{"entities":{"Q1718231":{"pageid":1728972,"ns":120,"title":"Item:Q1718231","lastrevid":57491970,"modified":"2026-03-31T03:55:20Z","type":"item","id":"Q1718231","labels":{"en":{"language":"en","value":"A new robust controller with applications to bioreactors"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7016295"}},"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":"Q1718231$7687C82B-A1D9-4E29-9452-9A9D1861A0EB","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"f4a8d29aa14955f7a83b2aabaebcc48894403003","datavalue":{"value":{"text":"A new robust controller with applications to bioreactors","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1718231$D4408BF2-1968-4D4E-8A84-DDEDDD39E61A","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"24ee892b99b6ad00db5bb355f8e6014564c51826","datavalue":{"value":"1407.93176","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718231$43B454CC-4098-4CD0-83D8-2AEA1459686E","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"4932e3fe771e440eef5b810575573e73a180b533","datavalue":{"value":"10.1155/2014/375928","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718231$1221D182-E5EF-4F7E-BC49-49D8173BA8FB","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"a74fda794eaedf8e69efa483ed63e9c70c850888","datavalue":{"value":{"entity-type":"item","numeric-id":369737,"id":"Q369737"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$9560DF6B-0A9D-434A-BF37-179134FB5452","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"2ea8ebf212bd09835cabdfaac658110004e7a2e8","datavalue":{"value":{"entity-type":"item","numeric-id":1718229,"id":"Q1718229"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$51E2290A-8C5A-4B39-B79D-EA68BF9540B7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"11dd14a1412eb005e1fe2e5539f950850c13abfb","datavalue":{"value":{"entity-type":"item","numeric-id":1718230,"id":"Q1718230"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$2AA42AE0-B21B-42B3-A8F1-E11CE7FC879D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"fcb142e80ee2faf77c9671575271c19804552f50","datavalue":{"value":{"entity-type":"item","numeric-id":474506,"id":"Q474506"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$778AE622-A096-44B0-9BDF-984E334042BC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"314733155b352049907709ccb773e03e2832792e","datavalue":{"value":{"entity-type":"item","numeric-id":328275,"id":"Q328275"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$3CC9B96F-700D-44C9-9414-6A6F2E021828","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$09F15DBB-CFAC-4237-9635-A87ADC7D5C02","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"32a6dc046c0aa99508538df457dbadf7aa620337","datavalue":{"value":{"time":"+2019-02-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1718231$A44F002E-2F1B-4E18-ACA1-6C13D28BDB56","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"fd0d7133a31637fa5f53516ca8ef8bd9a1237130","datavalue":{"value":"Summary: In this work an anaerobic digester is controlled using input-output linearization and Lyapunov-like function methods. It is assumed that model parameters are unknown, time-varying, and bounded, and upper or lower bounds are also unknown. To tackle the effect of input saturation, a state observer is designed. The tracking and observer errors are defined in terms of the noisy measured output instead of ideal output, given by the mathematical model. The design of the observer mechanism and the update laws is based on the Lyapunov-like function technique, whereas the design of the control law is based on the input-output linearization method. In this paper two important properties of the controlled system are proven. First, the observer error converges asymptotically to a residual set whose size is user-defined, and such convergence is not disrupted, neither by the input saturation nor by the parameter uncertainties. Second, when the control input is nonsaturated the tracking error converges to a residual set whose size is user-defined. The model parameter uncertainties are included to prove the convergence of errors. Finally, a numerical example to validate the developed control is presented.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1718231$CCC8B8EE-5D23-4B52-9B4D-95CFA8F57345","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718231$706A48DC-0DEF-4BCF-BFE1-67857AB36F0F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"fa31302a6315eb00d745d9c7dacf89c33763ee49","datavalue":{"value":"93B07","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718231$ABE04E01-76B8-4282-AB82-25B53803FE9C","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"9cd5698ce6b381429610e0c5bb0490f7a8c04a53","datavalue":{"value":"7016295","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718231$7B62CE04-3045-4F12-824E-7FF35CC3E90B","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"5db0baa72b3154010873a08c603337b9b06709f6","datavalue":{"value":"Q59064796","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718231$FF8EF8C5-4376-4221-AB62-690F6497BCA5","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":"Q1718231$EDEDAC36-8E16-40AC-BB6C-D33234886690","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"e95fc4f195206751e78afeaa42db575329caa473","datavalue":{"value":"https://doi.org/10.1155/2014/375928","type":"string"},"datatype":"url"},"type":"statement","id":"Q1718231$1FEB2CAA-0918-4688-B4D0-42DADC93A29F","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"2970771bad6dfe8d25b98f2fdc6d4b5fcb1309fa","datavalue":{"value":"W1999885722","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718231$86483111-14D5-46BF-B6E6-A286BE62D2A5","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"f72884746a9ac7fe6a640ad7f8f0c553e5a6f088","datavalue":{"value":{"entity-type":"item","numeric-id":893701,"id":"Q893701"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$544DB9C6-E73F-4E07-A491-F451D4CE4F64","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fc3a097167ea36fac481a89f29b215ba0e055bf0","datavalue":{"value":{"entity-type":"item","numeric-id":1023358,"id":"Q1023358"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$88ECF851-AF66-44AF-9A59-4AAAA5C8BEC2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"22930fb8252563fdb560ebef83aaf0875509a6ac","datavalue":{"value":{"entity-type":"item","numeric-id":1024530,"id":"Q1024530"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$663A6410-1DE1-4A09-A28A-C39E51B50E23","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0edfda48d6830b2b9863b5b96e64e6a75009cceb","datavalue":{"value":{"entity-type":"item","numeric-id":1129640,"id":"Q1129640"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$060AC4C4-6AEF-45FF-AADF-1CAABFE40199","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8f69ee04fb87302a312e56fe1d7a8db27a3770c8","datavalue":{"value":{"entity-type":"item","numeric-id":1000831,"id":"Q1000831"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$7AE603A4-DF05-4BAA-B407-CE99AC60CE88","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4c220b195b2f32a616709fcd402529aecd7b00b6","datavalue":{"value":{"entity-type":"item","numeric-id":705155,"id":"Q705155"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$A535475B-CC48-4BB0-8BE7-6FE2EB704759","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"788794929667c9fc17e0b9dcc3fe4f474fe29680","datavalue":{"value":{"entity-type":"item","numeric-id":3376618,"id":"Q3376618"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$3B226731-7A22-457A-9502-070990E9CB4A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"129a0b428b13eee2a3789d664ce4b0e2f26a1fd5","datavalue":{"value":{"entity-type":"item","numeric-id":4280055,"id":"Q4280055"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$6386B4D7-29DC-493D-84D2-8053ABB54C4B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2c2393e97e64ee18f1cafb22397a643f4447eabc","datavalue":{"value":{"entity-type":"item","numeric-id":4003793,"id":"Q4003793"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$97F2B9C1-C45C-4F5A-853F-1E5A9D7E87C2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7935253d2a7ed6815ae3fd3a2e7fd6a61abb22cd","datavalue":{"value":{"entity-type":"item","numeric-id":5947600,"id":"Q5947600"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$4436EE0C-379D-4A25-83E9-DFFB47056E73","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"439a1eafc5313572eea419f222fc84ff84f4edd2","datavalue":{"value":{"entity-type":"item","numeric-id":1428128,"id":"Q1428128"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$8C423460-D7D7-4DF8-88CF-B2020B3E2354","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7e9c9dd31d32541260349c67f62e3a16ad08bbb7","datavalue":{"value":{"entity-type":"item","numeric-id":4853265,"id":"Q4853265"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$9A5C30C1-3885-490A-96E6-930D8389FD3F","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"11b0ecb079e094334462726e78cb58630e77291b","datavalue":{"value":{"entity-type":"item","numeric-id":1712920,"id":"Q1712920"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4dc37751aff945df1c19d653d5c69f82b3de4b76","datavalue":{"value":{"amount":"+0.8007628917694092","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":"Q1718231$62659EEE-EC46-4365-B2CF-4D8ABBC17694","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4dad0ea88648df7ee03ed0fb6a23eb745c968c62","datavalue":{"value":{"entity-type":"item","numeric-id":705155,"id":"Q705155"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1809ef858e7e69ad473a8ed6aa65899b76bf2e20","datavalue":{"value":{"amount":"+0.7697737216949463","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1718231$F1BF89DC-8225-4C06-BE36-1091BFFEDAFA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7800c5d6d1ef5c8d194d5e92f74311bb2cf53f3e","datavalue":{"value":{"entity-type":"item","numeric-id":2193383,"id":"Q2193383"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d425143cdc2349304fb95639b22c7b842a56f84f","datavalue":{"value":{"amount":"+0.7623794078826904","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":"Q1718231$1AD50E33-B27A-40E8-A852-BD0141FFA7EC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"61aa108e222aa0792a81252fe6007a31fe28ba1b","datavalue":{"value":{"entity-type":"item","numeric-id":2301566,"id":"Q2301566"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5a3372e1a3aa876d6e1a9e190e0abd315ba2eac5","datavalue":{"value":{"amount":"+0.7516903877258301","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":"Q1718231$7FF83E1E-418A-4877-A160-D804A1AEB96B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0274f65e67665051488e31e9a8c5d6c013fcedab","datavalue":{"value":{"entity-type":"item","numeric-id":4203411,"id":"Q4203411"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"63574fea947a0c264457fb3ccf8c1a20ec455b61","datavalue":{"value":{"amount":"+0.7422042489051819","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1718231$A35E05D8-EC53-4B15-92C7-80D37595D5DD","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"daf5f856a5d861312ad309ab567540337a5f61d6","datavalue":{"value":{"entity-type":"item","numeric-id":57050,"id":"Q57050"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718231$BD90CF8B-9E21-46A8-A290-F5DBAAD58E05","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1718231","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:1718231"}}}}}