{"entities":{"Q2887646":{"pageid":2898371,"ns":120,"title":"Item:Q2887646","lastrevid":83909780,"modified":"2026-05-07T13:42:40Z","type":"item","id":"Q2887646","labels":{"en":{"language":"en","value":"Sliding mode control of the Acrobot robot with external disturbance"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6042027"}},"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":"Q2887646$9CD1AF1C-A7D0-4407-9CA7-D639154A595C","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"ca023858e966214a9215103f0d4f833725624b55","datavalue":{"value":"1249.68271","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2887646$9043088A-75A0-419E-A67C-AD89286BCE71","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"c2f3366d6284b63c855ab15aad7351462dcc5245","datavalue":{"value":{"entity-type":"item","numeric-id":250335,"id":"Q250335"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2887646$88AD7D62-ADA1-4F97-8919-CA282752789E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"bd313d0935111fdcc3326865e756d74c7918d520","datavalue":{"value":{"entity-type":"item","numeric-id":6062509,"id":"Q6062509"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2887646$389E22ED-021F-4C66-8D92-07A979C9CD7A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"8c605502e2ec890ed56d3664f6df90c495623916","datavalue":{"value":{"entity-type":"item","numeric-id":6187212,"id":"Q6187212"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2887646$9D0C0D29-E9E4-4DD2-BFB1-CF8379716EEC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"077ad6a11e3147d27ed623d9a2c213422edff262","datavalue":{"value":{"entity-type":"item","numeric-id":6094528,"id":"Q6094528"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2887646$98D26CCB-D566-4AE8-A19E-EAFA073AA748","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"551a6f900a46a3a457eea381c5a639d070eb099d","datavalue":{"value":{"time":"+2012-06-01T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2887646$8752A9EF-8A6F-4C50-BACC-7745A2F624B5","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"46ffee837b0dbcd63fffc2834ebe2705f88e57be","datavalue":{"value":"68T40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2887646$534E8942-3174-4C71-8609-C9A9100FBF50","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2887646$651A01D6-DE08-461A-B620-75C396EF6D9B","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"a42534099f3f0a8285cf1f977160c985f1de1ec3","datavalue":{"value":"6042027","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2887646$25770A62-A3B7-4502-AF84-BD820FCD81F2","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7f9c7b4deb8986824f5dfc6c04add7d2ea730e9f","datavalue":{"value":"sliding mode control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2887646$4C0248C3-E51E-42F1-9B34-7F2256FF9C1B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9c3fc445ab82becabc9b3b61833ec980b40cd273","datavalue":{"value":"cascade normal forms","type":"string"},"datatype":"string"},"type":"statement","id":"Q2887646$DD1DBCFC-4D39-4BB4-8AB6-10F8DA0142DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"83cf381edf844322fe8c84498aae7b9737446de1","datavalue":{"value":"underactuated system","type":"string"},"datatype":"string"},"type":"statement","id":"Q2887646$00D488EE-AEA4-430E-96A0-FD5A4DEE59CC","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":"Q2887646$9CE5F254-768E-4DB8-A020-B8F866AC0F41","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"1f829c33f7024dcd59cbe31c4e9cb7f6508aa17b","datavalue":{"value":"10.3969/J.ISSN.0258-2724.2011.01.018","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2887646$9C86F6B2-AEA6-448F-AB31-E654D293E9F1","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"3458602efc3e71dc4605852133bd04e129544830","datavalue":{"value":{"text":"Sliding mode control of the Acrobot robot with external disturbance","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2887646$378E0DAF-450D-469B-B59E-C700FA3B949F","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"cc25d111e3e6074acffdbddf6eb5e3f68d64eea1","datavalue":{"value":{"entity-type":"item","numeric-id":6772056,"id":"Q6772056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2887646$B747A6CE-3B7E-4F3E-83D9-F784CA195FF6","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9f629dd2b78cdf34447bde18ed4e79108cb65e97","datavalue":{"value":{"entity-type":"item","numeric-id":1663718,"id":"Q1663718"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fa2067d90e6078de99d5c18f853b0a30de5e30da","datavalue":{"value":{"amount":"+0.7841126918792725","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":"Q2887646$1ED38245-65D1-4095-A1AC-0187797D1312","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fafbfe393218eec7b9ee30257274394c6c12ec4b","datavalue":{"value":{"entity-type":"item","numeric-id":2476228,"id":"Q2476228"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"80c27d0874619155c57ffba9b92b9c194cfa5f1b","datavalue":{"value":{"amount":"+0.7697474360466003","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":"Q2887646$45D0CF60-0DB8-4214-98C9-9CF529FB93D6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1ad30796caf157aaaca96fd076bcc90319b00cb0","datavalue":{"value":{"entity-type":"item","numeric-id":2813764,"id":"Q2813764"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"71bac01c3e36a03fc48c6485f14b22dea68a22d0","datavalue":{"value":{"amount":"+0.7570250034332275","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":"Q2887646$23936EC9-BC14-4A8A-8770-29E7A0538702","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"00cfad2fc8662755aed52b3c94098b8728a27f46","datavalue":{"value":{"entity-type":"item","numeric-id":3538212,"id":"Q3538212"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"860cb18ac5e588697736b8a2af12dbbceaf2a811","datavalue":{"value":{"amount":"+0.7463935017585754","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2887646$FB1022C1-DD65-47CA-BCD8-1848457AD187","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ceca975e940d22c56a560ce22c401885ab3a9764","datavalue":{"value":{"entity-type":"item","numeric-id":4967667,"id":"Q4967667"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f74d274920bd77b329e587401bc2e17849df9e19","datavalue":{"value":{"amount":"+0.7449489235877991","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":"Q2887646$6C25B81D-8FDF-4982-8251-D2D7921F8BD5","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Sliding mode control of the Acrobot robot with external disturbance","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Sliding_mode_control_of_the_Acrobot_robot_with_external_disturbance"}}}}}