{"entities":{"Q2298201":{"pageid":2308944,"ns":120,"title":"Item:Q2298201","lastrevid":57257160,"modified":"2026-03-27T16:27:40Z","type":"item","id":"Q2298201","labels":{"en":{"language":"en","value":"Nonlinear/linear switched control of inverted pendulum system: stability analysis and real-time implementation"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7170572"}},"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":"Q2298201$BAAEBA0D-BB1E-4B0E-A65D-1C09141B5307","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"38ba08d638ca44b9d845c23c965d2b66278920d7","datavalue":{"value":{"text":"Nonlinear/linear switched control of inverted pendulum system: stability analysis and real-time implementation","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2298201$FC841601-7FAA-41D9-8D39-A67E14BD0EE7","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"c8127c8c6a1c7e3d848349417050c626e7ad633a","datavalue":{"value":"1435.93149","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2298201$1637E4B2-C2C7-46C3-A525-EA0889E8C044","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"450ea2e0a0678059da6ae6207550d6a9486e92e1","datavalue":{"value":"10.1155/2019/2391587","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2298201$2521F19F-7F16-4D18-9892-EBE689EE5533","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"244ef208648bb2262212264056f04e75aa84c45b","datavalue":{"value":{"entity-type":"item","numeric-id":2173754,"id":"Q2173754"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298201$C9FB4592-35E4-4EE5-A1BF-1586DFB1E5EE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"8b4025f5a40e579800a95264394c11b660b58d3f","datavalue":{"value":{"entity-type":"item","numeric-id":2173753,"id":"Q2173753"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298201$CCB7910F-EBBD-4BDC-88A0-FCF498BE6806","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"315852cd4cd9485d5736823e6b48c94fafb1d903","datavalue":{"value":{"entity-type":"item","numeric-id":398268,"id":"Q398268"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298201$3582C8C2-5F17-4DF6-B5C8-DDD931392FE2","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298201$ADACBE7F-4567-4737-8C97-820F2AF38A9E","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"24486b0c9c2f4867c6ded703b21ce26ee6b26916","datavalue":{"value":{"time":"+2020-02-20T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2298201$D31CF3F1-A873-462A-B9C7-384125DAC505","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"fe933778b02fd01e37939bc553b40e0f419e316c","datavalue":{"value":"Summary: This paper treats the problems of stability analysis and control synthesis of the switched inverted pendulum system with nonlinear/linear controllers. The proposed control strategy consists of switching between backstepping and linear state feedback controllers on swing-up and stabilization zones, respectively. First, the backstepping controller is implemented to guarantee the rapid convergence of the pendulum to the desired rod angle from the vertical position. Next, the state feedback is employed to stabilize and maintain the system on the upright position inherently unstable. Based on the quadratic Lyapunov approach, the switching between the two zones is analyzed in order to determine a sufficient domain in which the stability of the desired equilibrium point is justified. A real-time experimentation shows a reduction of 84\\% of the samples below the classical scheme when using only the backstepping control in the entire operating region. Furthermore, the reduction percentage has become 92\\% in comparison with the composite linear/linear controller.","type":"string"},"datatype":"string"},"type":"statement","id":"Q2298201$1C401E71-DF4C-426E-8755-F08178A05A8B","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"406c80d213b264ba577b5aab979b8ac352491ba7","datavalue":{"value":"93D15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2298201$194B99E5-9F40-4891-9F01-D6C97F665CFB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"2fe80f99e8c18bd4fd8b01ba9d118d0847fb1a9a","datavalue":{"value":"70E50","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2298201$4DF12630-342F-43F1-BD6F-C2D7206B57A2","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"da035f2bd3a2293b8ea7b161079c04ffe8cff30e","datavalue":{"value":"7170572","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2298201$A0A751C7-A222-46A4-9F66-0A7E3675FF8C","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":"Q2298201$BF4AA317-4207-4D99-A09A-4EAF8D040648","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"5f85752fb0a267986e3abf2f9d1f5c2713499456","datavalue":{"value":"https://doi.org/10.1155/2019/2391587","type":"string"},"datatype":"url"},"type":"statement","id":"Q2298201$763D2775-FB7A-435E-A89C-9A24AE321751","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"1421dd500dc3d9c46046b0dfe2f477c9326c1a7e","datavalue":{"value":"W2965353006","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2298201$0A2506B1-5B1E-4159-87BD-6CAE87DC0C74","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"87bfec3fcfabbbdd5fd3c2f1ad7729db0723b528","datavalue":{"value":{"entity-type":"item","numeric-id":2797642,"id":"Q2797642"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298201$EFE56DB4-0ACE-4B71-BD09-88EE925B076C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d59bc85a6e253c8cc38dec6893834df40e065a3d","datavalue":{"value":{"entity-type":"item","numeric-id":472900,"id":"Q472900"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298201$06718437-EE9A-4177-ACD2-ABCED535AA14","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2a8476be47194eeb6551bb339b69a72aae984626","datavalue":{"value":{"entity-type":"item","numeric-id":4609900,"id":"Q4609900"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298201$F3CAA444-6A83-4E92-89DD-723E6ED6378C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"87a5229299deaf2f70d5664593531017f0c22bb4","datavalue":{"value":{"entity-type":"item","numeric-id":2982964,"id":"Q2982964"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298201$8E7EA274-BA4B-46FB-BFFF-54355B74EF60","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0d8247789bc5a1b87c18d9b552e58351ac81783e","datavalue":{"value":{"entity-type":"item","numeric-id":2883778,"id":"Q2883778"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298201$56182397-3437-4D5C-95E4-B6E04C226093","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4a8a8dc8f718a0b50aebc1672d22bef18cec8b08","datavalue":{"value":{"entity-type":"item","numeric-id":463787,"id":"Q463787"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298201$2FDDDFF0-B3F1-4E0C-8506-E67A6B85A120","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"23ad2f10513a1d0e2283e94f630fe5b980ac22d4","datavalue":{"value":{"entity-type":"item","numeric-id":1962010,"id":"Q1962010"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298201$68E73B38-2908-4B45-9AD0-61E568C39AA2","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"331f35e851425d8aa7d2c169b82c946eb9a8559b","datavalue":{"value":"Q127401144","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2298201$EF27D3F9-9657-4044-BB83-74AFB13582B4","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0da521bc4ac15fdfece42572a428fd4fe69421e6","datavalue":{"value":{"entity-type":"item","numeric-id":3072082,"id":"Q3072082"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3e15c38ef42773913cbd8d22c59a691422f5ee0e","datavalue":{"value":{"amount":"+0.7884010672569275","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":"Q2298201$3F86E313-A272-460E-AF90-8557D873226B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b0924b8b985a1722ba10b5f1dfb954c52658daf2","datavalue":{"value":{"entity-type":"item","numeric-id":5319989,"id":"Q5319989"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"00e12623b6eadc8f3d2c73f362c4af3ef57a0f84","datavalue":{"value":{"amount":"+0.7865678071975708","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":"Q2298201$0ACB566C-EEC2-45F5-B727-B96E85680470","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bb009711e68493a93a00c880f7120faf8f7941bd","datavalue":{"value":{"entity-type":"item","numeric-id":1000827,"id":"Q1000827"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a1d9358600095260caf4fb19ec1b7a3d106e7dd7","datavalue":{"value":{"amount":"+0.7760940790176392","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":"Q2298201$129FE03A-3AD4-4C4A-9312-8E83B22E4A1A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"38fe7aab0dced69be05f9fe8d226cec2f6955936","datavalue":{"value":{"entity-type":"item","numeric-id":5129566,"id":"Q5129566"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9b08c13a1359bb52bb43d719d1f2f461f90053e9","datavalue":{"value":{"amount":"+0.7756719589233398","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":"Q2298201$81A3C979-1E60-4C58-9B92-BF499388C0B2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"936f140b227e46f518b1519ead5cd8106362b246","datavalue":{"value":{"entity-type":"item","numeric-id":2499002,"id":"Q2499002"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"cba44c1ef9ea67c34ad7f06ba076ee541f8d38e7","datavalue":{"value":{"amount":"+0.7648138403892517","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2298201$E9384AFE-9505-4F88-8C00-D1F7FC21C9CC","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":"Q2298201$CC639E5C-30CE-4570-A5F1-AE6F5DEA65DC","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2298201","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2298201"}}}}}