{"entities":{"Q1583209":{"pageid":1593949,"ns":120,"title":"Item:Q1583209","lastrevid":72720114,"modified":"2026-04-14T06:57:59Z","type":"item","id":"Q1583209","labels":{"en":{"language":"en","value":"PID regulation of robot manipulators: stability and performance"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1521711"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1583209$7E9644E9-E95A-4C7A-BA27-D8A48271D8F1","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"183d44cda1efa1e7b6b514826fbae5b5cf58639d","datavalue":{"value":{"text":"PID regulation of robot manipulators: stability and performance","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1583209$9E54F5AB-EC90-4B52-B5A4-F0824D892B5C","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"4af3247bc69cce1976b9e3de2c5552bb3f0caf3a","datavalue":{"value":"0985.93038","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1583209$4800A311-682C-4CBD-9929-E4E10D466535","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"6b249ea254d78e5c7e83e5b42a57d09760585643","datavalue":{"value":"10.1016/S0167-6911(00)00038-4","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1583209$2FA38016-6BD5-4DAF-BCCA-97DC6151E08F","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"b1ed7a090d8f1d0a3795177bace50e8f939f7c97","datavalue":{"value":{"entity-type":"item","numeric-id":196914,"id":"Q196914"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1583209$62C40774-3325-4D36-9290-E1245CEE8DCC","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"7ccf67db9ec606552e3b39a88e0b26e8e698006b","datavalue":{"value":{"time":"+2000-10-26T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1583209$5AB355E4-643C-4AD2-94A1-63323F26E747","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1583209$803859EB-58A1-40B6-BE6B-6FB17650B6E2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1583209$DD29ECB6-E141-43B9-A495-5B0B2629D63B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"931f9bc6fe69aba6508703df7e266476edb87eb8","datavalue":{"value":"93B51","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1583209$2EEC0B7E-5DBC-4B22-8777-B5134B4A382E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"cda039453f35395c3231b74a5eabbf4ec89e643a","datavalue":{"value":"93D21","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1583209$1F90B21A-7CC0-45CE-BFC1-4BD7894AE21B","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"b54d3d60e6f093a55c55d0ee2565ea677184c7a6","datavalue":{"value":"1521711","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1583209$FC14C125-E640-47C7-89B9-E23210915562","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4e686e032edbabb3eb71adb9bccd68c92d5e37f4","datavalue":{"value":"robot manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q1583209$4D67DEB3-DABC-41FC-AED5-4B4F566B5467","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f07b5fb611a017064a461ecd33075c48c2860aa0","datavalue":{"value":"PID control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1583209$EE00BAE7-DB42-44E3-87DD-8302F11B701C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5764c0aab378f9ceed64d8dec1ce90b387f04bd0","datavalue":{"value":"robust stability","type":"string"},"datatype":"string"},"type":"statement","id":"Q1583209$29AF8088-5FE8-4927-A5DB-EC6F7F581F4A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"599ff021b4f3f1b6b4dbb9488a7c7f2dc762c6b0","datavalue":{"value":"robust performance","type":"string"},"datatype":"string"},"type":"statement","id":"Q1583209$5B0622F3-0B17-42B8-9854-8399C154C3E2","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"6b08de0b5443c6d1820e1cf366729a42c26867e6","datavalue":{"value":{"entity-type":"item","numeric-id":389855,"id":"Q389855"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1583209$514EB1EF-C0C3-4CC9-8E5C-1AC367E74DE3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"4e7eedbf70c9ff30ce27cafae38a56324c796493","datavalue":{"value":{"entity-type":"item","numeric-id":899201,"id":"Q899201"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1583209$506376B0-C7D0-4650-8E05-0BFCC8A0D022","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6c403a6d712e52e5a592a7e7c0ada14a73167726","datavalue":{"value":{"entity-type":"item","numeric-id":522678,"id":"Q522678"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1583209$2D842014-8289-4800-890A-75DD5459C76A","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1583209$609B9AFE-ACED-4190-AF0A-3277727BE9BD","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"de45486667d1fdb36e6de670113cae29a9b8bd00","datavalue":{"value":{"entity-type":"item","numeric-id":4260122,"id":"Q4260122"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1583209$B44B5727-AA71-40A6-97FF-EEB3AB3B946C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"923d6d0dd2af4a717e5cb6b195ce9acd3ab11379","datavalue":{"value":{"entity-type":"item","numeric-id":4692549,"id":"Q4692549"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1583209$63F85A8E-843E-471D-8E85-54C3A7C56FA5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fc232977028814678f79c5b99f858eef0551acad","datavalue":{"value":{"entity-type":"item","numeric-id":1393658,"id":"Q1393658"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1583209$BFA701A5-64D8-4143-8E82-83723289DA01","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"63a87d81b620c8f28c1cd94c6fae2006de8ff72e","datavalue":{"value":{"entity-type":"item","numeric-id":1344363,"id":"Q1344363"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1583209$90670FE4-6175-440A-8459-0CD40AFFF8D1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"93eae09014b5da334f38d4e30a5280a026195498","datavalue":{"value":{"entity-type":"item","numeric-id":4850487,"id":"Q4850487"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1583209$A1D1D067-2CB4-411C-BA4A-D53BD86C2C22","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"2730239b1c60a51e67318e8a5f45db03affdaa6a","datavalue":{"value":"https://doi.org/10.1016/s0167-6911(00)00038-4","type":"string"},"datatype":"url"},"type":"statement","id":"Q1583209$E2BAE193-1C28-4975-B31D-A206502DECC8","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"506197abb97be7c2c83230399d8f2828eebcd191","datavalue":{"value":"W2005249374","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1583209$44AC95EE-BF4E-4EB9-88D1-E6BA799649B8","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e30801a5061ffdefbda0047d50251b80e51d7535","datavalue":{"value":{"entity-type":"item","numeric-id":5940729,"id":"Q5940729"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1918d2d1735ef67d728722ad506c44d902aabfb9","datavalue":{"value":{"amount":"+0.8834898471832275","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1583209$0D1C4A92-E342-4D55-A989-BDDB115D0AC2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2c35941722d10b941bdba861dea45bbe443bf8ff","datavalue":{"value":{"entity-type":"item","numeric-id":1306881,"id":"Q1306881"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c28de1a4e964c39db6f1b71bfb51e0d721541c7c","datavalue":{"value":{"amount":"+0.8439294099807739","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1583209$659F2BA9-3178-4934-B67C-B7B4907D4062","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"421efa7d9ee461230622c31623b14eae00f11595","datavalue":{"value":{"entity-type":"item","numeric-id":1810565,"id":"Q1810565"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"344ea840effc469764972a72ecf5c96898d68058","datavalue":{"value":{"amount":"+0.8436864018440247","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1583209$7547D56A-6F29-4015-A555-473DA2D5B20D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"35b39ee8fcb3c85d4858ebacd6fb61981f6e7127","datavalue":{"value":{"entity-type":"item","numeric-id":4506520,"id":"Q4506520"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"87dd81c357a6d08c73cf558034b84b4f5d141fd4","datavalue":{"value":{"amount":"+0.8392885327339172","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1583209$67E56037-9CAE-47BD-AFB5-085AF2201E7C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"97787e208342e3dab8e48ba67fe2af337607f273","datavalue":{"value":{"entity-type":"item","numeric-id":522679,"id":"Q522679"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ff73a1c502cd3c6ef0c79a9ebe4b0c30b122dae7","datavalue":{"value":{"amount":"+0.8331315517425537","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1583209$069DA79A-F8EF-4034-A00C-BA6170353788","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"PID regulation of robot manipulators: stability and performance","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/PID_regulation_of_robot_manipulators:_stability_and_performance"}}}}}