A switched finite-time point-to-point control strategy for an underactuated underwater vehicle. - Velupillai Sankaranarayanan; Arun D. Mahindrakar; Ravi N. Banavar (CCA, 2003)

Modelling and constrained stabilization of the Inverted Pendulum on a Cart Beam system. - Velupillai Sankaranarayanan; Subbaraman Anantharaman; Alagarsamy Balasubramanian Aswin Chandarr; K. Sri Adarsh (CDC, 2009)

Control of a Class of Underactuated Mechanical Systems Using Sliding Modes. - Velupillai Sankaranarayanan; Arun D. Mahindrakar (IEEE Trans. Robotics, 2009)

Configuration Constrained Stabilization of a Wheeled Mobile Robot - Theory and Experiment. - Velupillai Sankaranarayanan; Arun D. Mahindrakar (IEEE Trans. Control. Syst. Technol., 2013)