{"entities":{"Q1723151":{"pageid":1733892,"ns":120,"title":"Item:Q1723151","lastrevid":70807977,"modified":"2026-04-13T17:22:12Z","type":"item","id":"Q1723151","labels":{"en":{"language":"en","value":"A review on the control of second order underactuated mechanical systems"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7025207"}},"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":"Q1723151$2DA6DB42-EBD2-4B41-8183-B93021ABA713","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"d9e6034e94075d4e02313ac8dfed868948f11911","datavalue":{"value":{"text":"A review on the control of second order underactuated mechanical systems","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1723151$9459F5A1-BD36-4EC6-91B7-3824A07D914A","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"1fcaf374caae407918cdbfe187e8164dfa49792f","datavalue":{"value":"1407.93068","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723151$D2B281D0-2214-4199-8CA6-3630F19CA90F","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"135cec658eabcbf550f954abe965c5d92014a304","datavalue":{"value":"10.1155/2018/9573514","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723151$04AEBCD0-45BD-4836-B319-B445ECF8BB4F","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"eb78607889d5e2582176d00ca67dd5410028fea1","datavalue":{"value":{"entity-type":"item","numeric-id":1723148,"id":"Q1723148"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$35800596-7DCB-4985-AEB2-AE3C28B5612C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"f1a2ea7be734cea35bf98809c3646d06298d2250","datavalue":{"value":{"entity-type":"item","numeric-id":1723149,"id":"Q1723149"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$A089B077-3D1A-4FA8-A4B7-FE9910289CD4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"fee00ca91a7028d395aef8b6d667fbc2267dbfb6","datavalue":{"value":{"entity-type":"item","numeric-id":1723150,"id":"Q1723150"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$1F15A8C1-D79C-4E9D-AD29-B21EA6680E71","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"1dec05d6eca21826ddc25d78a5bfbbb3575f964c","datavalue":{"value":{"entity-type":"item","numeric-id":86231,"id":"Q86231"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$DADA4215-817B-4584-8405-DEBCC0D90651","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"90e6131927e2f821390d615ecfaa0e74b7083d76","datavalue":{"value":{"time":"+2019-02-19T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1723151$8E04BF58-D743-4B29-91D9-7F07581C31D9","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"e893c2f14f9729eb3d89590029a2da7cf893f7f2","datavalue":{"value":"Summary: This paper describes some important classes of two degrees of freedom of underactuated mechanical system and also surveys review of the recent state-of-the-art concerning the mathematical modeling of these systems, their classification, and all the control strategies (linear, nonlinear, and intelligent) that have been made so far (i.e., from the year 2000 to date) to control these systems. Future research and challenges concerning the improvement, the effectiveness, and robustness of the proposed controllers for underactuated mechanical systems are presented.  Editorial remark: According to the corrigendum [ibid. 2020, Article ID 1629749, 1 p. (2020; Zbl 1446.93028)], tjis article ``was found to contain material from published work, which was not cited.''","type":"string"},"datatype":"string"},"type":"statement","id":"Q1723151$9D532882-E889-4D76-AE21-BDBF1836C12C","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"6594fb8580241c64ce14f9f29fc602ba2f0f06fe","datavalue":{"value":"93A30","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723151$860DAA91-1BC9-492B-BADB-B463B2F03981","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dbba85562facd3e546df50a87515dddbb3dae27e","datavalue":{"value":"93C05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723151$7B85D652-8093-408C-901C-E260BD62E297","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723151$853B13F3-C830-42C8-9C7D-93383CDB6A3C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9727d9ee90ef6c0f1bdf0ba5bb711e9a6b7cd05","datavalue":{"value":"93C95","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723151$3E6FAA48-9ABC-425F-815A-77A7C38410BA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"ebdf98283f7948a43bca5d4e86e3c163160a35c1","datavalue":{"value":"93-02","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723151$322C798D-218F-45CC-8780-1DBD0D6EDBC2","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"32f6af4621089431319266d03bd43010f3768f10","datavalue":{"value":"7025207","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723151$CA63FE5C-7621-4F1C-B449-092CE7C6FB7D","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":"Q1723151$FCFCEF64-D8C7-4453-AD5B-047B84C7414B","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"15e9550dfc3680f1da1cdf17715be9e81a423ded","datavalue":{"value":"https://doi.org/10.1155/2018/9573514","type":"string"},"datatype":"url"},"type":"statement","id":"Q1723151$8455CB8A-3B00-4FDE-BBC0-4BBF70D56C0B","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"0f527821a1e78884fc73bfa8da7bf3de22b758f1","datavalue":{"value":"W2903130502","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723151$AA73CD05-B4C8-4F6E-83BB-A0596B64853B","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"2a65117d46e5df6f90775dbdbf134358567d4a7c","datavalue":{"value":{"entity-type":"item","numeric-id":362348,"id":"Q362348"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$64CA7DB9-57C3-44C4-AAC3-F3088747325C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0921e9e45b8a8a52c2259980f5019ca9e2830ee5","datavalue":{"value":{"entity-type":"item","numeric-id":5747454,"id":"Q5747454"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$B1E15C65-6350-4A20-A625-AE715FDF57CA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c445595f3e04b5f54ce6b1b5dd303e66846f5d32","datavalue":{"value":{"entity-type":"item","numeric-id":2835567,"id":"Q2835567"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$A900FAD4-BA95-4F2C-BF6C-35B7EA9CBBA3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"780667cd4142ed4ba6e1c1b70e3b0e8662f6de50","datavalue":{"value":{"entity-type":"item","numeric-id":931248,"id":"Q931248"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$AD36ACE1-AC18-4292-AEF4-C96C55A78078","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d479d676e2e71617dca189199eb588df36cee075","datavalue":{"value":{"entity-type":"item","numeric-id":1710075,"id":"Q1710075"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$16D7DAFE-D217-4A3C-ACED-B10B8DA3D015","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6d995b965c59f297e5da18674cfb6d0d7df918b7","datavalue":{"value":{"entity-type":"item","numeric-id":5267251,"id":"Q5267251"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$4C3A30D9-3223-4BCC-9F2B-8F9279BBC1F7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"86c7f24d8eeef107e20b731c473f04540d0e2780","datavalue":{"value":{"entity-type":"item","numeric-id":4978909,"id":"Q4978909"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$71C1CF58-A022-489A-BB80-98C193DA8774","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e10df428d8ef00cefb1708cdf7d552b9ba67bcef","datavalue":{"value":{"entity-type":"item","numeric-id":1665413,"id":"Q1665413"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$917F7BF7-18D3-4E79-A75B-24FB5702FDD7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"95aab498cd1a5e6200eacb6681dbd1b6051de863","datavalue":{"value":{"entity-type":"item","numeric-id":1954594,"id":"Q1954594"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$D47C884E-7F87-4B7D-A061-8FC9F75E752A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d0a38fed14c85725a3062355f7d797b48a093e35","datavalue":{"value":{"entity-type":"item","numeric-id":4557454,"id":"Q4557454"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$41CCD70B-2CAB-407E-940D-5FCD64D6BFE9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"384eb881b3314184156d10842b1c138bc1cefd33","datavalue":{"value":{"entity-type":"item","numeric-id":4689965,"id":"Q4689965"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$5EFBF028-9081-415A-BBD7-0C66E1B7B30A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"da7420819cf02992379f9dd668b1963e3135035f","datavalue":{"value":{"entity-type":"item","numeric-id":410447,"id":"Q410447"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$9A797FBB-2950-4248-8F5B-675B5FB6198B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"94a51634a8ea9bdcb030e2d08e1c4b785aa580c2","datavalue":{"value":{"entity-type":"item","numeric-id":966388,"id":"Q966388"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$7C55AA39-C85C-4FAB-B82C-802B4FD747FE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f21c2e56e8b3bcec497ccc83a0592f806928a1cd","datavalue":{"value":{"entity-type":"item","numeric-id":1992515,"id":"Q1992515"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$6F2C584E-0CA2-4F8E-9EB9-0561D2E5638C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1efb8d19b5ed6094c3c8d3553103c754e0523245","datavalue":{"value":{"entity-type":"item","numeric-id":5950259,"id":"Q5950259"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$BC001129-AC5B-4B13-9931-25AEBDF12032","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"76ffbfde8205402cf3f01d0141d386de03483c5e","datavalue":{"value":{"entity-type":"item","numeric-id":1665659,"id":"Q1665659"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$3C7D0F7B-8F15-4D64-81F8-314B7F8B6883","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4a551e73da3c7acda49657271740627753c61c20","datavalue":{"value":{"entity-type":"item","numeric-id":1972234,"id":"Q1972234"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$19F23A07-3AFC-450D-B1AA-68079E6D52E5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1a11ccbe3a44edbc3e8f0a710bd9f79f674b30c2","datavalue":{"value":{"entity-type":"item","numeric-id":5900424,"id":"Q5900424"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$9B64D0B8-EA5D-4A83-A40B-A9B299D0CBE3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a517d8fe7f2262ecb57e8d8e5cb6035cfcf0572c","datavalue":{"value":{"entity-type":"item","numeric-id":1662899,"id":"Q1662899"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$4EFC3FED-F94E-4CB5-B340-A2ECDEADD18D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"790a79befc03b2c7987b5aa7b26904e0fe5a7843","datavalue":{"value":{"entity-type":"item","numeric-id":1663718,"id":"Q1663718"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$FB1CD516-718B-4A17-95F0-0E6FAE293C78","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"01c8bc711fb3dc3796882e62b7e4910f5f94f9a8","datavalue":{"value":{"entity-type":"item","numeric-id":2380548,"id":"Q2380548"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$7640E44E-F497-4CE8-955C-91EFCCE6DDFB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b2146437f7fe10ea99f27930aff2f397bf658311","datavalue":{"value":{"entity-type":"item","numeric-id":5267101,"id":"Q5267101"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$F3E6F154-E96F-436D-8846-6B7A314A2934","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1aaea2e264af747af64ea2854d16fc3794af3c08","datavalue":{"value":{"entity-type":"item","numeric-id":4954328,"id":"Q4954328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$DD337EA6-D524-4E52-BB29-1C5355C2A3FF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"27aac0ba1b83aeb0c997b2e5b331dc087f3005fb","datavalue":{"value":{"entity-type":"item","numeric-id":2983410,"id":"Q2983410"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$ABF0B6C2-351C-46AD-BEDC-06979E05AC21","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3e8e2fcc5ce13c9f0e76300fe5e3dd1d42b4be9e","datavalue":{"value":{"entity-type":"item","numeric-id":359733,"id":"Q359733"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$9400820F-F15F-4C50-8C95-6C0FC79D70BE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b8dba7894f42a938dba451a2ae70d4496691c386","datavalue":{"value":{"entity-type":"item","numeric-id":611646,"id":"Q611646"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$0FE1012B-11FD-47A5-9DCD-479B7E137365","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a1f15b3034390232688c8036cddee96147a6723c","datavalue":{"value":{"entity-type":"item","numeric-id":1425929,"id":"Q1425929"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$FFAA8B72-E9AB-417E-93D2-0AD8B507337C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"870b60117d7c456f8dad532569a41fd7f279c705","datavalue":{"value":{"entity-type":"item","numeric-id":3022760,"id":"Q3022760"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$9EECE50B-E3AF-433B-ADBB-2B861D3CD0DF","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7d470400ca538a15f7d9145c6201ff35192f7a2c","datavalue":{"value":{"entity-type":"item","numeric-id":1003512,"id":"Q1003512"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b30b807929d9d250160c2fdc3f6b245eada87966","datavalue":{"value":{"amount":"+0.7968277931213379","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":"Q1723151$0EA55067-B5C8-4008-803E-0503B9CD0D1E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c593a91c15f85eb59cfe22d2bc4043f0bdaa6938","datavalue":{"value":{"entity-type":"item","numeric-id":4506892,"id":"Q4506892"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"642f99c738b637f529e1d2ec1119f3b94130dc36","datavalue":{"value":{"amount":"+0.7933452129364014","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1723151$F294EF78-60BF-40DB-B662-DBA59060AC2A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"403a2c7c3cb439b55d3599bcdf23e7e213ebf0cf","datavalue":{"value":{"entity-type":"item","numeric-id":3086737,"id":"Q3086737"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2f59af12b87aebad82ca02c6058239ca031a78b1","datavalue":{"value":{"amount":"+0.7836549282073975","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":"Q1723151$54F825E8-CEC0-4E13-8684-4C1ADCABDE6B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8f19674ef6ff32e73a324b93e0434e97b06a081b","datavalue":{"value":{"entity-type":"item","numeric-id":5747454,"id":"Q5747454"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"52eea6c2d4f086658254ed9f335356b7b6c2f0f6","datavalue":{"value":{"amount":"+0.7778540253639221","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1723151$E5266436-68BB-4CCC-AB22-35DABC5E8168","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6e087e77102444053e17cb8d222db7f34809ce55","datavalue":{"value":{"entity-type":"item","numeric-id":4954327,"id":"Q4954327"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3dc77d9a923b2cbf3dbd8d5b723b7a8b59f42870","datavalue":{"value":{"amount":"+0.7745572328567505","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":"Q1723151$82559828-8E21-4C08-AA31-E4DF404E4392","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723151$5A023E3A-B7B5-4D15-8736-DD5804BA8DB8","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"A review on the control of second order underactuated mechanical systems","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/A_review_on_the_control_of_second_order_underactuated_mechanical_systems"}}}}}