{"entities":{"Q2410756":{"pageid":2421499,"ns":120,"title":"Item:Q2410756","lastrevid":74193276,"modified":"2026-04-14T18:53:13Z","type":"item","id":"Q2410756","labels":{"en":{"language":"en","value":"Design and implementation of a new sliding mode controller on an underactuated wheeled inverted pendulum"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6793190"}},"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":"Q2410756$40447C35-D852-454E-80BD-19C5814A1229","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"09afedb82ff06d7d2dda399a8b34705e9846b8b1","datavalue":{"value":{"text":"Design and implementation of a new sliding mode controller on an underactuated wheeled inverted pendulum","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2410756$CA9ED352-543E-413C-8230-710CF84730E4","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"9f6ba184eb99561bdbbb2c4d7d140b533c270351","datavalue":{"value":"1372.93062","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2410756$D41E5B91-20A9-4196-A0D8-1EBF5428C0C6","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"da27157ff84a63b536b05b19d55c59bca1c678ab","datavalue":{"value":{"entity-type":"item","numeric-id":690906,"id":"Q690906"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$8538DB76-5FA3-4E7C-989C-FD79492729E1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"245c8e2d2af93329a5c23cc67fea612b15d753d3","datavalue":{"value":{"entity-type":"item","numeric-id":705152,"id":"Q705152"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$2BC26698-DE22-41F4-86FC-1419CA31E04A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"4728f1fa0493309680b0b4d2fd59745da51ba82f","datavalue":{"value":{"entity-type":"item","numeric-id":193804,"id":"Q193804"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$72319480-C747-4B00-B8CB-DF9174A8D047","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a51b97a52c84c260f189b05761c3359b0f8838c1","datavalue":{"value":{"entity-type":"item","numeric-id":164292,"id":"Q164292"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$CE711941-7C54-4C64-B193-D0166C9525DD","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"09fed704422914cfe2a4482b61f3f610c89a1884","datavalue":{"value":{"time":"+2017-10-19T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2410756$86969E30-B274-47AE-9340-C83F77B7034B","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9f9620f736fe7e9d98419851a30eb0cb81dd3f3","datavalue":{"value":"93B12","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2410756$19D8E24E-2B0A-4A34-AE7D-46825CDA2586","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2410756$9D2FAAF1-3FA5-44D6-B64E-CDDD65BBE2B2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"2c05236ba6c6eb01728e5ef50a3d845c0afa0da1","datavalue":{"value":"93C41","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2410756$B6B5DEF4-2C8C-498A-914B-AEC341AD1243","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dbba85562facd3e546df50a87515dddbb3dae27e","datavalue":{"value":"93C05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2410756$DE9BAB46-3D56-463B-AB34-1DF96BC54CB0","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"eeb422242fd28b93f49ce143c204e077f91055bc","datavalue":{"value":"6793190","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2410756$25B86413-C283-4C0F-B30C-78A2ADB89691","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7f9c7b4deb8986824f5dfc6c04add7d2ea730e9f","datavalue":{"value":"sliding mode control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2410756$EF0A9841-4141-4245-8F8B-6B2CBBAE1A3A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c332ce7aa217df5bd7f8c876b5e445ee32ceb63a","datavalue":{"value":"underactuated wheeled inverted pendulum","type":"string"},"datatype":"string"},"type":"statement","id":"Q2410756$A70DBE73-77FB-4321-84C9-80BCB45A637E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2cd6d78c51a8daab217d7e4eeee27a64361e7183","datavalue":{"value":"uncertainties","type":"string"},"datatype":"string"},"type":"statement","id":"Q2410756$F4DB68F8-809A-4BE6-ADF5-7E470CC43187","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"964b122b7a3503cf5b8c07e445c24e1eb2eb5197","datavalue":{"value":"linear controller design","type":"string"},"datatype":"string"},"type":"statement","id":"Q2410756$286086B8-691B-4EF6-BF09-D9973E5B5C98","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e43eb90c42a60c6f9056097749f871d831f89ee5","datavalue":{"value":"linear quadratic regulator (LQR)","type":"string"},"datatype":"string"},"type":"statement","id":"Q2410756$2E6E2820-3175-4F8F-B1EC-9DB52557297E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2dfa6993e08a2bf5c4ddb1f1f7f090b4389374b1","datavalue":{"value":"linear matrix inequality (LMI)","type":"string"},"datatype":"string"},"type":"statement","id":"Q2410756$30F50E8F-E51B-407C-8725-5915F20FE0E1","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$CD4C0EF2-930D-45B7-9381-EA450DE78EF4","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"b71427822fc9902e4dc36e23d905f4afbe2721a2","datavalue":{"value":"https://doi.org/10.1016/j.jfranklin.2013.02.002","type":"string"},"datatype":"url"},"type":"statement","id":"Q2410756$3C953E88-DC3C-43C4-8E04-F02C62E5C097","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"497c50fe810f42e19030d5b3a89722dc7388c583","datavalue":{"value":"W2067277252","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2410756$139D0F8E-7707-4031-B162-98432C9D5641","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"5805cf457178b49d8ce6fc4ade19e1609e713b29","datavalue":{"value":{"entity-type":"item","numeric-id":3548771,"id":"Q3548771"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$38025B19-0A7A-45B4-A568-D49E74C8BF4C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d136eadcb890cff94830566ce569c9a6e4d9adf9","datavalue":{"value":{"entity-type":"item","numeric-id":2476228,"id":"Q2476228"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$7D31A983-A5F6-4806-8DDC-55C741722970","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a553805eb0c90bca06e23e8e646f75c9c40cdb8b","datavalue":{"value":{"entity-type":"item","numeric-id":5405740,"id":"Q5405740"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$7831738F-CA5B-4AB0-A385-2E62879EABDE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ea8db609a6fced84c26739a790edee1a7e1c8da2","datavalue":{"value":{"entity-type":"item","numeric-id":5405741,"id":"Q5405741"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$5F43CD63-07B3-4983-9959-C2B5AE0ACB38","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":"Q2410756$0CEF0555-2E81-4277-9289-1A106A464430","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2ecaf5b7db7bba4eb72ccc0f76a62581817ae2fe","datavalue":{"value":{"entity-type":"item","numeric-id":690907,"id":"Q690907"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$0EADED89-6991-413C-B71C-5A2599669AE1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0c854f407cb7a3be0dd1518e457e8b33e187d477","datavalue":{"value":{"entity-type":"item","numeric-id":1926361,"id":"Q1926361"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$1788A242-EAEF-4DC6-A599-5CC5E0F2CFA3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d794ead34998dee62c339aa458a599624829d668","datavalue":{"value":{"entity-type":"item","numeric-id":1926362,"id":"Q1926362"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$AF71250B-9421-4D81-8337-9315125F328F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"386e0fb311805e3cbf5f264aeca00f1299979b6e","datavalue":{"value":{"entity-type":"item","numeric-id":1926363,"id":"Q1926363"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$DB688A75-F867-4C6D-89E3-F99FCD7CAE78","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"170f4f1194ea638699107d086fcd02f40f239a08","datavalue":{"value":{"entity-type":"item","numeric-id":1926364,"id":"Q1926364"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$F02403AB-F5B6-4E22-830E-1C17A879C9C1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f189173b6aaf67ec5002713a9e44b3cec6b9e1dd","datavalue":{"value":{"entity-type":"item","numeric-id":1926365,"id":"Q1926365"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$F2874CFF-E818-45DA-ABE1-C002D020799B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7e1466ac243fc3dc13351c10f0ffb2f927bd3e9c","datavalue":{"value":{"entity-type":"item","numeric-id":1926366,"id":"Q1926366"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$35717D44-DA59-448D-AA55-F10E3D395EB8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fa884ed0784e6c0b4df7ba84b2ca51e2dfe94d61","datavalue":{"value":{"entity-type":"item","numeric-id":1926367,"id":"Q1926367"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$9614AF8B-85A1-4517-BFF5-0A01EE1D3CD7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1148163f4d6a43b52c2aa25cc57ece6dbd95cf18","datavalue":{"value":{"entity-type":"item","numeric-id":1926370,"id":"Q1926370"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2410756$D0D90725-2CA0-43C1-AB7A-227570E0BFE2","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"7983649719ea5ad6b252df47a0731388928d1cc8","datavalue":{"value":"10.1016/J.JFRANKLIN.2013.02.002","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2410756$4B8AB8DC-0E2C-4209-A655-2358FE1700BF","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b230558bf6c5d7853a9006b29330f7c751c50e09","datavalue":{"value":{"entity-type":"item","numeric-id":3180172,"id":"Q3180172"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3f02f0f2c3e1dd072092968631b0bf32a4ab4486","datavalue":{"value":{"amount":"+0.8371044993400574","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":"Q2410756$5629CC0B-2437-4EA1-A6D8-BCE4F88DB621","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d663980a018376dd5dc546b4eed9223cfe67aebc","datavalue":{"value":{"entity-type":"item","numeric-id":4557455,"id":"Q4557455"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3479802af7c05b80fbad79f385e0f6ca1091b7ba","datavalue":{"value":{"amount":"+0.8318119049072266","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2410756$D5138529-AB1D-4760-905F-1A82DD14837F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"847a33922a99f8a815e3185d3ea00fcbb380c301","datavalue":{"value":{"entity-type":"item","numeric-id":5416876,"id":"Q5416876"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"eeb6944c4ebdd272d82f1fdf3c208152f5ec66e3","datavalue":{"value":{"amount":"+0.8009553551673889","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":"Q2410756$5E7F0415-4CBA-4CE1-A485-573340F49DDA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b0924b8b985a1722ba10b5f1dfb954c52658daf2","datavalue":{"value":{"entity-type":"item","numeric-id":5319989,"id":"Q5319989"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0e53518e8c37ea95a2ca347db6855b0212baee96","datavalue":{"value":{"amount":"+0.7986699938774109","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2410756$A2443945-EF3C-476C-A963-50471ED8BF93","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b4e8b9bd14e24b6093be0ebf98fe17f806dff120","datavalue":{"value":{"entity-type":"item","numeric-id":1721172,"id":"Q1721172"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6b03075594dd0d10920d5e2dc41ecb874b98e701","datavalue":{"value":{"amount":"+0.7913629412651062","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":"Q2410756$4F1A097E-91D2-4C8D-A775-82043DD8D3AD","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Design and implementation of a new sliding mode controller on an underactuated wheeled inverted pendulum","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Design_and_implementation_of_a_new_sliding_mode_controller_on_an_underactuated_wheeled_inverted_pendulum"}}}}}