{"entities":{"Q2517551":{"pageid":2528294,"ns":120,"title":"Item:Q2517551","lastrevid":52331678,"modified":"2026-01-21T11:32:03Z","type":"item","id":"Q2517551","labels":{"en":{"language":"en","value":"Adaptive sliding-mode control for two-wheeled inverted pendulum vehicle based on zero-dynamics theory"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6475855"}},"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":"Q2517551$C6BC5A9E-D808-4C4A-B224-019B5E307E0B","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"949ea0d5cdf5396fd8255feb88c3abb45555f787","datavalue":{"value":{"text":"Adaptive sliding-mode control for two-wheeled inverted pendulum vehicle based on zero-dynamics theory","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2517551$BCF184B7-D9E0-4A10-AC25-FD2D56D9E44E","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"86d9ea5f3949d9a2005e96fb84903d05a0dac0b7","datavalue":{"value":"1319.93042","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2517551$2469845F-A253-49D1-993C-06AB5FC2E612","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"8b19f29b6c8f6c6cdf7e312d3720228955be021e","datavalue":{"value":{"entity-type":"item","numeric-id":1045465,"id":"Q1045465"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2517551$435C58DA-B4F6-4958-8F61-A26DB6168269","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"fe1f37faf51b15389a0e9d23e56d70b9e70bbca9","datavalue":{"value":{"entity-type":"item","numeric-id":463430,"id":"Q463430"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2517551$AD045E48-8FE1-4F14-B65F-B0528E8CAC0D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"563ae4a0c6573c198e77a4f0fa96e8e25fc19294","datavalue":{"value":{"entity-type":"item","numeric-id":428223,"id":"Q428223"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2517551$F466516B-BED3-4F00-B324-F0A3E8E3AE4C","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"d3b6540a5cd6a7f15bca174716bb7f991ed59bfa","datavalue":{"value":{"entity-type":"item","numeric-id":65804,"id":"Q65804"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2517551$8EBBC39D-A3BA-4170-9826-BCCBD9332829","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"ddf6ecb9e5ed20bb1adfdb1d89c4230618bbee22","datavalue":{"value":{"time":"+2015-08-26T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2517551$EDC9E3C5-FF02-4C80-ACE6-8EF702C0494E","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2517551$306CA519-12F4-4B22-B392-6DD2CEA4752D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"924541e834fb028affdc095fef79d880beeb8bd8","datavalue":{"value":"70E17","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2517551$F2562AD0-8201-42C9-9428-F3B9C635896F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2517551$3EAB311A-6205-4B9D-8F88-7A5A1C550AB1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9f9620f736fe7e9d98419851a30eb0cb81dd3f3","datavalue":{"value":"93B12","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2517551$566A2246-6ED6-4B21-A8EC-F4FDBD1910DE","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"59a4874b75018c2d46898c63aefefcb9ed2b0275","datavalue":{"value":"6475855","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2517551$ABEB92B6-07C0-4007-AEC8-1613B9BAF729","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"565623728b24e213299a356b932ad2f1358f93d3","datavalue":{"value":"two-wheeled vehicle","type":"string"},"datatype":"string"},"type":"statement","id":"Q2517551$FF40675D-9740-410F-B45B-62C8DA718C84","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f8ee013efcde4c69f06853ff3dbb7b37cc9638d8","datavalue":{"value":"inverted pendulum","type":"string"},"datatype":"string"},"type":"statement","id":"Q2517551$77706B92-B238-4590-B6DA-9F7212F67302","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ab43eb83e0834d5b4704e8eb454a78bf0d22f555","datavalue":{"value":"zero dynamics","type":"string"},"datatype":"string"},"type":"statement","id":"Q2517551$D461D05D-BA8E-42D1-8C3F-4CF0F767EA54","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7f9c7b4deb8986824f5dfc6c04add7d2ea730e9f","datavalue":{"value":"sliding mode control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2517551$B0B47998-FCE9-4BA6-B876-38A4CE918961","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2517551$B4C2628B-EA97-4799-88EE-369976BF70A6","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"f585a77e09d102b43b1f50be97bb0ed984129d9b","datavalue":{"value":"https://doi.org/10.1007/s11071-013-1139-6","type":"string"},"datatype":"url"},"type":"statement","id":"Q2517551$EC0447D5-9D31-4006-811F-A9A438D936B5","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"e703c21e677d362b9f0503f795c06dfcc82a46cf","datavalue":{"value":"W1992733504","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2517551$85B0CE5C-3D4D-4512-9AE1-1CA04BAFE95B","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"c90a0e88e277dbeb44bb1d3ff1c3765f159978dd","datavalue":{"value":{"entity-type":"item","numeric-id":840330,"id":"Q840330"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2517551$34B0448D-81C5-4C89-877D-B6A4A3A225F6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"79f40f853ff8e77bdb0f6dffca25c7db6556579e","datavalue":{"value":{"entity-type":"item","numeric-id":614973,"id":"Q614973"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2517551$928798CB-7BF0-4379-81A7-CB5D8BC4F106","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"24c85646871a56a4b6845939a87ebd938e92769a","datavalue":{"value":{"entity-type":"item","numeric-id":1410376,"id":"Q1410376"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2517551$B779DDA4-BC58-4228-A70F-8F1927ECCFE5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"77a5240641239597357a5c3878828752b5ec23ee","datavalue":{"value":{"entity-type":"item","numeric-id":3425124,"id":"Q3425124"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2517551$CA1BB7B2-F68C-4C83-B7D5-AF1D5B0DF133","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e35783952ca0b64f6c40f3c5e4d4ce0517b93555","datavalue":{"value":{"entity-type":"item","numeric-id":608446,"id":"Q608446"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2517551$297FBFC3-B13E-4372-ADCA-FC8D1E124125","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"506136135f114231156f53b406163cd213ee3512","datavalue":{"value":{"entity-type":"item","numeric-id":441432,"id":"Q441432"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2517551$65910C13-C55F-4017-9C33-C9987D402524","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b633e9d20a4845bf473e7864029623db81f22eac","datavalue":{"value":{"entity-type":"item","numeric-id":5266714,"id":"Q5266714"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2517551$1B3F3506-2721-43BD-9FB5-D9AFD6B3FE9C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"260e47af0be02af6c6443fd2187b85825908b04b","datavalue":{"value":{"entity-type":"item","numeric-id":354302,"id":"Q354302"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2517551$0BCF9ABE-62EE-47EB-B4A3-EC405FAD8D94","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ac5af5860fb4f1e89c3b363e954e4b313200b003","datavalue":{"value":{"entity-type":"item","numeric-id":1928946,"id":"Q1928946"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2517551$14268C06-A5CB-40ED-84D4-AE550C63F5F4","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":"Q2517551$1601A5C4-9E76-4831-A7C2-EFC92461CE8A","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"cea5dfc8954c09c5e9b9ddfe4015986733772ae3","datavalue":{"value":"10.1007/S11071-013-1139-6","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2517551$23B27CDB-26C6-46F8-AB0D-F11021BB4565","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"92b87812ced250e23102be6f17809a479832b437","datavalue":{"value":{"entity-type":"item","numeric-id":614973,"id":"Q614973"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f33b1fa4612bf8c41572159f3663da349cf8df81","datavalue":{"value":{"amount":"+0.8161337971687317","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2517551$FAB29C19-0932-4CE8-AB23-80355A4A83B5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2b69003be84ec2f79e59363d435fe14c6c11e3f1","datavalue":{"value":{"entity-type":"item","numeric-id":2979574,"id":"Q2979574"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bcc6ebede4269b5f009e6d245c8d9bdb0684fb96","datavalue":{"value":{"amount":"+0.8057347536087036","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":"Q2517551$DBB1D984-D9B8-4DBA-BAFE-E52678F7D272","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"49b24c5a6332e01490991c69bc870db83e478ded","datavalue":{"value":{"entity-type":"item","numeric-id":2420802,"id":"Q2420802"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"eff2f03b5a505c20542553765717fc15f796b46a","datavalue":{"value":{"amount":"+0.7953236699104309","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":"Q2517551$2E21F998-B704-469B-8809-FA7D39C224F8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7ac63195929c127c8ae3325d913047a37840e152","datavalue":{"value":{"entity-type":"item","numeric-id":5177202,"id":"Q5177202"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"06502c46c93b8e70649356778cec4bd8119e2115","datavalue":{"value":{"amount":"+0.7800566554069519","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2517551$A04E11A6-5A7C-4FA2-9CA4-49EDCF41A833","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5b36040b0c3d5faa7d8d61434c6353322be5f690","datavalue":{"value":{"entity-type":"item","numeric-id":5117289,"id":"Q5117289"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ee9ac1793b23383826537c1b07691ec0bf43d092","datavalue":{"value":{"amount":"+0.7788538932800293","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":"Q2517551$441D1B22-9C3F-4749-99E5-A5675DC9B2AA","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2517551","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2517551"}}}}}