{"entities":{"Q3086730":{"pageid":3097445,"ns":120,"title":"Item:Q3086730","lastrevid":51217760,"modified":"2026-01-17T07:20:32Z","type":"item","id":"Q3086730","labels":{"en":{"language":"en","value":"Sliding mode control for a high-speed linear axis driven by pneumatic muscles"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5872222"}},"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":"Q3086730$E26ADBF2-79FF-4EEF-8694-574F24993F1A","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"26d8291c2edf52a02a842339bd8fef884a5ca689","datavalue":{"value":"1222.93043","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3086730$BB9F427D-B387-4602-821E-58C5099E22E3","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"1abd02f22b08e6e408f620e95ea697980717d762","datavalue":{"value":{"entity-type":"item","numeric-id":285371,"id":"Q285371"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3086730$E1DD70AE-EFDC-498F-AA61-A8B78C8C055A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"8bea2450196c839bf487525b0fbe198f6371aded","datavalue":{"value":{"entity-type":"item","numeric-id":3086729,"id":"Q3086729"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3086730$28199F9F-AA99-4A96-AA16-806FB0C30D53","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"7689f7450ca45c5720e9af63718c2696a88f018d","datavalue":{"value":{"time":"+2011-03-30T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q3086730$0A0B4AFE-79D5-42BD-B389-83F3B8BAB045","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9f9620f736fe7e9d98419851a30eb0cb81dd3f3","datavalue":{"value":"93B12","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3086730$EA5448FE-E1D0-4024-B274-FD92915DBC70","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3086730$E3DE768F-9D5B-43AC-B916-ACECBEC7B5FA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3cf19f414d003b599cb8555b9227d1a95bcc55a3","datavalue":{"value":"93C15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3086730$9E1F2AAA-D5DF-4685-AC95-7EB28EEFC390","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"11589af38a539e8d8a84ef76007cad87372b080b","datavalue":{"value":"93D99","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3086730$2A1666E9-64E6-4E21-A614-109954334261","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"89cd7656e718c40dd63e7b1cf8cb2f41e639a1b3","datavalue":{"value":"5872222","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3086730$950ECFE5-FA64-45C0-981C-6A1A24641FE8","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"33322be01661273c4f23d194ba41e800f94e5739","datavalue":{"value":"cascaded sliding mode control","type":"string"},"datatype":"string"},"type":"statement","id":"Q3086730$CA364086-BF98-4978-A481-930198678516","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9191b879474b55ae6002758d4501134cb8e1074f","datavalue":{"value":"four nonlinear differential equations","type":"string"},"datatype":"string"},"type":"statement","id":"Q3086730$603C3087-B995-42EF-AF21-2412A8ED64D7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"cbb2b4aff9c48feefc123b9468b8a875858da28b","datavalue":{"value":"fast underlying control loop","type":"string"},"datatype":"string"},"type":"statement","id":"Q3086730$CE25A767-F3D0-40A8-ADBF-082A874CF07E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fe7e1290d82867c350810a4f64eb42447e7dca13","datavalue":{"value":"disturbance observer","type":"string"},"datatype":"string"},"type":"statement","id":"Q3086730$AE77CE80-006B-404A-92D5-13201E294772","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3086730$F97FD3C2-FEA4-4626-97DA-65795C2EDD5B","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"89f6ecd5e819194dd8c06f210c7bb7757fb0e7d6","datavalue":{"value":{"entity-type":"item","numeric-id":3407440,"id":"Q3407440"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e09bc1bced4c2c779bfb87ebb39c4c8821ea2e37","datavalue":{"value":{"amount":"+0.8149070143699646","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":"Q3086730$D38C272E-3938-4098-AA98-C407201ABE56","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"94ed13e82d84d9909bb068f1fb67efb4e957890f","datavalue":{"value":{"entity-type":"item","numeric-id":2978043,"id":"Q2978043"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3be9874b02d44838bd8d973604fc63cffcac696b","datavalue":{"value":{"amount":"+0.78248131275177","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3086730$B5304CE8-E8EC-42D2-92DA-E8CA7F9E29D6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"39060d4f269fb63609cafa7686c4535ba82a5ac7","datavalue":{"value":{"entity-type":"item","numeric-id":5758272,"id":"Q5758272"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"41de668bd66762414bbe15fbde52fc1b504edfa6","datavalue":{"value":{"amount":"+0.7501471042633057","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":"Q3086730$B30FFF04-7725-4C20-A307-0D5AFC44780E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4184e63550edad79c0eb6884ff44dd32248591d7","datavalue":{"value":{"entity-type":"item","numeric-id":2954601,"id":"Q2954601"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7e852717d226d1485061381723b993b66aa1c348","datavalue":{"value":{"amount":"+0.7497149705886841","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3086730$A1E4EE5E-B44B-41E6-8410-EA3BB1790743","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a6170c8c3f091522c0a606b3b20919a2a630ad05","datavalue":{"value":{"entity-type":"item","numeric-id":2798395,"id":"Q2798395"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7e5f90b4e2d723d3da38a0dd797add1eebc2978a","datavalue":{"value":{"amount":"+0.7442134618759155","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":"Q3086730$97D5FF97-49CF-4AD4-B3DC-10E243F68ADF","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:3086730","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:3086730"}}}}}