{"entities":{"Q2665136":{"pageid":2675879,"ns":120,"title":"Item:Q2665136","lastrevid":54151355,"modified":"2026-01-26T08:42:19Z","type":"item","id":"Q2665136","labels":{"en":{"language":"en","value":"Adaptive tracking control for underactuated mechanical systems with relative degree two"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7429764"}},"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":"Q2665136$BDFB1091-1E12-4051-82E1-80C71BD211E1","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"b5a4756a478a2d5d0a55f526362c9c8b14c5e448","datavalue":{"value":{"text":"Adaptive tracking control for underactuated mechanical systems with relative degree two","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2665136$2689132C-031C-4BEB-AAFB-BFDC90412418","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"b34be27e0bc053a87d125426cc94342f3d432191","datavalue":{"value":"1478.93314","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2665136$16D745AD-8349-4751-870A-C4809380D4B9","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"b4b33a437e15df5490be6b0444b6b074733f2b88","datavalue":{"value":{"entity-type":"item","numeric-id":2665135,"id":"Q2665135"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$02CD5F07-2CC2-4351-A6C4-9EE017C02D9F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"23ddeba620a8c996788f3c3f9fde0e3c0907e89d","datavalue":{"value":{"entity-type":"item","numeric-id":389864,"id":"Q389864"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$9EF1C0EC-E545-4731-B105-A7C8692E2405","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"69a11602bb4f474f716dc259849d1837f4cd9e2e","datavalue":{"value":{"entity-type":"item","numeric-id":161901,"id":"Q161901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$32C385F8-16E4-4CB7-BC34-43431656C886","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"83c187e60ea47ad10ee07793b6b42dd7b9a224ae","datavalue":{"value":{"time":"+2021-11-18T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2665136$86FD6C22-F15D-41D8-AD7E-5EDC15BAFE27","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2665136$0208A76D-15FF-4A00-B4D1-F313923464A8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2665136$F8B989BD-6847-4D4D-9EC1-5C3C8DB92CD6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2665136$E4759AEE-417F-45B5-AA2E-0410E21153B0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2665136$0558068B-39A4-483B-AD4C-F56CD580C32D","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"4dee6e9de329d7aefbcf4dcdf54000f4479133bb","datavalue":{"value":"7429764","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2665136$A54B62EF-1A5B-449D-8EA0-F99D2B151ED1","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b253d7d94b74404330dfb928accbc7530cbafcd3","datavalue":{"value":"adaptive control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2665136$05B6860A-CF4B-4862-A393-C3C4694D4E49","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1313e81ec853c453b6816353ece60b57a1f2af57","datavalue":{"value":"underactuated mechanical systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q2665136$768FDF3C-EB18-41AB-988C-8AD13475E144","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8550c4fdd9ddae8fd6cb7f919cf12fe179c3f0ff","datavalue":{"value":"virtual holonomic constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q2665136$086E6AB9-0DAA-495A-BEF7-C6CAEFF6B20C","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$C847EDA6-8C29-4CF6-AFE4-42449C05BE47","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"4e6c65e0e9c47fdbc193184d3e01ae53515f5932","datavalue":{"value":"https://doi.org/10.1016/j.automatica.2021.109633","type":"string"},"datatype":"url"},"type":"statement","id":"Q2665136$0D633D4D-87A2-4962-93E2-EF57C0A87ED7","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"28ad39cd4b8b80ad366c20d87b9c52752b35235a","datavalue":{"value":"W3156911523","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2665136$A05259ED-3786-40D2-ACE5-A40EB6077571","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"44ca835810a43994ffeb70225fbd580bb60908ce","datavalue":{"value":{"entity-type":"item","numeric-id":4540186,"id":"Q4540186"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$0B32744F-577D-41D3-A278-3A740645CE19","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"241fc9a7d47384c0c6e7904f3592647309ada017","datavalue":{"value":{"entity-type":"item","numeric-id":1061695,"id":"Q1061695"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$3610D30B-66F6-4201-85DD-AA32AE0E1E06","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6c238788b97397014330a8a7fd6c160fdb7dbb9a","datavalue":{"value":{"entity-type":"item","numeric-id":3484718,"id":"Q3484718"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$3CD6E713-A5BE-4B79-8574-AE22D7226D0D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"76a0476ba96857a1ae1499720a3830c4a31f3ac8","datavalue":{"value":{"entity-type":"item","numeric-id":4562285,"id":"Q4562285"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$133C523D-9248-4B54-8F79-2AB50D7E7ADD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"169e7ccb511efc9b400483e7fb2492303baf2465","datavalue":{"value":{"entity-type":"item","numeric-id":1737722,"id":"Q1737722"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$00AAFA9C-6BF8-40AA-913D-6147D28D03BF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f48188ab904afc9bbe52bcf2a237f032ccfb4430","datavalue":{"value":{"entity-type":"item","numeric-id":5353184,"id":"Q5353184"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$D762B625-3A32-4B1E-A808-191771620CA1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"78e2d939e1e794a361b3c98c3e3b972cfe681aa2","datavalue":{"value":{"entity-type":"item","numeric-id":910372,"id":"Q910372"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$25CF9AC8-1675-4B26-A29D-B9CB91F34963","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0f56f5818b32e71b602a6919b729bf3498b89663","datavalue":{"value":{"entity-type":"item","numeric-id":510151,"id":"Q510151"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$B20B87D3-66F8-48BE-AA8D-783BF33A1A51","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"008f312a1777090bde16100980fe5970759092f4","datavalue":{"value":{"entity-type":"item","numeric-id":3994080,"id":"Q3994080"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$D96BDFEE-ADB0-4FE4-A40C-7E35BDF8BD23","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e083f5f54f9f20973f61c684895ba1e020c954e3","datavalue":{"value":{"entity-type":"item","numeric-id":2173956,"id":"Q2173956"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$CF61ABA1-E798-4C12-8828-49C71D7DD00E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"005650ca8798598c8ced2de13ec93bc95541166d","datavalue":{"value":{"entity-type":"item","numeric-id":5274124,"id":"Q5274124"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$CDDD9BD8-DA47-43AD-BAEF-31F0AF4D73F7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d4a87ef0c3cd2d19d3d1f354ab2c35bfe1ba9809","datavalue":{"value":{"entity-type":"item","numeric-id":3815963,"id":"Q3815963"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$8854EC6F-A920-465C-9BED-A5B078BCC062","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f316245aa45e3c89081e8af8637dcdcead7cbb42","datavalue":{"value":{"entity-type":"item","numeric-id":5266962,"id":"Q5266962"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$9BD0EFF6-8CCB-45C7-8D09-917F5E388430","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"009524f6dce5b58de6f9b50c87d10cb1857cbd9d","datavalue":{"value":{"entity-type":"item","numeric-id":1677872,"id":"Q1677872"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2665136$5B0CE65E-51B4-4D5A-B543-4E2924E4766E","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"90d988b811eb0aca7a60339d853d55d7de6ea420","datavalue":{"value":"10.1016/J.AUTOMATICA.2021.109633","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2665136$A1AB18B1-A5A2-48DB-A3E4-DE7596608BB9","rank":"normal"}],"P1643":[{"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":"fce8bcc9c7c53e5c656a3d71526a64589f782b6c","datavalue":{"value":{"amount":"+0.7558253407478333","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":"Q2665136$770FE613-430B-40A8-BC81-AAEC330BB58D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7d470400ca538a15f7d9145c6201ff35192f7a2c","datavalue":{"value":{"entity-type":"item","numeric-id":1003512,"id":"Q1003512"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8f5eff6e835e4529061ebc8ea4de189c3813b6b9","datavalue":{"value":{"amount":"+0.7548088431358337","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2665136$C01B6F41-2AF3-47AD-A5C6-C7E17ACF17A1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1cbdd843a357eeddb8b665a3f20bb4f1a009d780","datavalue":{"value":{"entity-type":"item","numeric-id":2984315,"id":"Q2984315"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"76111fc9a13cfba1eb2386022b2ecb1d80c8c8af","datavalue":{"value":{"amount":"+0.7421720027923584","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":"Q2665136$AC56D333-9EB3-4F56-8139-070D04F79D36","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"805488999ab23810fcbf8c4cb670aee79f90a07c","datavalue":{"value":{"entity-type":"item","numeric-id":4506985,"id":"Q4506985"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"51342e75cb32abf929d0fe118f4f08f12fba7682","datavalue":{"value":{"amount":"+0.7413315773010254","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":"Q2665136$0808544D-6100-47DD-87AB-1FDAE412D831","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"13525850f326edf21fa652c1a92435b8537be85d","datavalue":{"value":{"entity-type":"item","numeric-id":5216429,"id":"Q5216429"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"cf2949b7760f548e9cd33e4d5913bd12807da6ac","datavalue":{"value":{"amount":"+0.7407445907592773","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2665136$D3A4AE3F-22D1-4551-B5C7-C11E1F4995A4","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2665136","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2665136"}}}}}