Here is a cakephp component for joomla 3 :

https://github.com/ahmad24/JCake

you can access the controller and action by passing the parameter 
tasks=controllername.actionname

back end example :
localhost/joomla_32/administrator/index.php?option=com_jcake&tasks=tests.index

front end example :

localhost/joomla_32/index.php?option=com_jcake&tasks=tests.index

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