{"entities":{"Q3187899":{"pageid":3198607,"ns":120,"title":"Item:Q3187899","lastrevid":86625272,"modified":"2026-06-04T03:11:25Z","type":"item","id":"Q3187899","labels":{"en":{"language":"en","value":"Synchronization and tracking control for multi-motor driving servo systems with backlash and friction"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6622983"}},"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":"Q3187899$C74848F9-ED7D-48E9-9623-6CD70C1685D7","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"6abb8a108772584fa29ea00114d8d3beedc59e12","datavalue":{"value":{"text":"Synchronization and tracking control for multi-motor driving servo systems with backlash and friction","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q3187899$356E785D-FBC8-4ABA-93B2-0E73E4917F7C","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"9f752f95f58814577793498c19d42bd628cdb62a","datavalue":{"value":"1346.93205","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3187899$D93969F2-580D-469E-8BE8-A9047E4AF833","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"efd5b38fe63d2b3cbdfff117cbf4b2152356fa16","datavalue":{"value":{"entity-type":"item","numeric-id":1691165,"id":"Q1691165"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187899$60E6883C-7DD3-4216-A750-2D4F44547AEA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"3d595e9330abb7ae4d7091b734dba56feb5f1560","datavalue":{"value":{"entity-type":"item","numeric-id":328005,"id":"Q328005"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187899$00F8725E-8C8D-47F3-98F4-6536FF306688","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"8cee460f0fc53cab8bfa87beda9e973178f970f6","datavalue":{"value":{"entity-type":"item","numeric-id":1632880,"id":"Q1632880"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187899$4EB83924-9171-4EEC-95C3-C390A0A4AC5E","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"50b8674a675fb6cb1ce5f58b071e4afdb153e2c6","datavalue":{"value":{"entity-type":"item","numeric-id":2710025,"id":"Q2710025"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187899$CF0FBEE2-F64C-4E7E-841F-411D088E0DE6","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"c42ad213f9b7f39d3e9ee142840c36c28e5864b9","datavalue":{"value":{"time":"+2016-09-05T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q3187899$E4374E66-DCEE-4FF6-A162-8A4C29567260","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"bec664fc111c8c38f0715786ddaeb8636a48223c","datavalue":{"value":"93C30","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3187899$746CA0D0-1A32-4116-846F-E889BAA2ABB4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"38822e0c30cb4d87278a7a9a067f8d6b4b31dddb","datavalue":{"value":"93A14","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3187899$0B9A1B91-0E95-41DC-8BD1-5323EF0AAEA6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3cf19f414d003b599cb8555b9227d1a95bcc55a3","datavalue":{"value":"93C15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3187899$9234E933-3B67-4F5B-8A01-8ECDAD7A4F03","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9727d9ee90ef6c0f1bdf0ba5bb711e9a6b7cd05","datavalue":{"value":"93C95","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3187899$235B95E9-008E-4445-A273-1B8A6CEE1B9E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"4475bb18dcf8fe4d3323e29b22648a2bd590665f","datavalue":{"value":"74M10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3187899$1E847D14-9994-4973-B090-A364DA7DFE71","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"0d4a419212baed03da2c3a98ed0e8d9fa94904e0","datavalue":{"value":"6622983","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3187899$7A334504-6C24-49F5-9FE2-9EC26B402860","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6291b315a26ee38ce92bfb4e117247929733ac48","datavalue":{"value":"multi-motor driving servo systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q3187899$FF73AF5F-6FA5-4681-BFA5-3655C86E6022","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e91cd0950e53d9a90a1bbe3b1c896eb3541dc4ce","datavalue":{"value":"synchronization control","type":"string"},"datatype":"string"},"type":"statement","id":"Q3187899$5A3CB5D5-1740-47FB-9661-5722BC13FFC2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"db9c25e3a21d16b23367bacdd7480078371d6c10","datavalue":{"value":"tracking control","type":"string"},"datatype":"string"},"type":"statement","id":"Q3187899$83E5D9A0-EF3E-4F79-8C6A-F42B95B1C4D4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b0efe91da4df536f9ec53a9f276b6c2c113d29db","datavalue":{"value":"neural networks","type":"string"},"datatype":"string"},"type":"statement","id":"Q3187899$70E904A4-DA62-4483-9EBC-FC0B07CAB418","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3d7c480543cc4dd910947208de4eaae43087e09a","datavalue":{"value":"backlash and friction compensations","type":"string"},"datatype":"string"},"type":"statement","id":"Q3187899$DF036D6F-FF78-4776-A6ED-74F5BD913242","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":"Q3187899$FBD9D1F7-522C-440C-8B96-E259FF0BE4CD","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"958dec170b38e378cdd03f3a4e854105bcb3e02c","datavalue":{"value":"https://doi.org/10.1002/rnc.3470","type":"string"},"datatype":"url"},"type":"statement","id":"Q3187899$1722E439-6CAE-45EC-8826-F3D9A311DBE1","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"0271d6405dbc2ab0cabacbd3fd67eeb13bec6e0b","datavalue":{"value":"W1900700898","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3187899$4685FF02-46E6-4F69-8129-8EFF16FD4CD9","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"1bb04a39d6bf5f0a995778e039a71aba1805aeb8","datavalue":{"value":{"entity-type":"item","numeric-id":5926164,"id":"Q5926164"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187899$727CA0C6-0C38-4E6F-AE66-715BD8BC97E6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1ec77d6bb77443bf1b89be94c59a380e1d72e413","datavalue":{"value":{"entity-type":"item","numeric-id":5273967,"id":"Q5273967"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187899$20C814A3-3DBB-4439-978B-043CF8717107","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"10d45eafbb6d2289895251bac7c6b40f0f20e136","datavalue":{"value":{"entity-type":"item","numeric-id":4978695,"id":"Q4978695"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187899$68A156BB-44BB-428A-BCB4-F906C4BA3AA3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5bec2600bffa50e3517c7dedefc7e015969e1bf9","datavalue":{"value":{"entity-type":"item","numeric-id":745751,"id":"Q745751"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187899$23AD9EA7-B2C3-479B-B2CE-C8116B95BB20","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e1e2f578829f376361b9d48f816318139052e5ab","datavalue":{"value":{"entity-type":"item","numeric-id":1810566,"id":"Q1810566"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187899$5D1EF9F4-05B9-4132-AB10-D59F3722F011","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ed9e9bc322b59665556e3b18df95b68f6081dbbf","datavalue":{"value":{"entity-type":"item","numeric-id":1858879,"id":"Q1858879"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187899$AB8563B8-1913-4227-A089-55F5E45B6728","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"90e72155851c4dca6ca315a75d1d3002417f1208","datavalue":{"value":{"entity-type":"item","numeric-id":976233,"id":"Q976233"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187899$2D92EF92-3B84-4DFA-988D-B072B0A983E1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"44f2d1e38b1b7a154adf197ce5f1cc6df15c02d7","datavalue":{"value":{"entity-type":"item","numeric-id":1012885,"id":"Q1012885"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187899$7DBF4ADF-2B6C-4DB6-ADC8-58A01B846A8E","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"4e41720ffaafe749451262697ef2edc66abf7c46","datavalue":{"value":"10.1002/RNC.3470","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3187899$ACC57FB8-4F6D-4C8E-930C-3E2D617097C1","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2039680e521fd181d95d57e0f9344bf260733ec0","datavalue":{"value":{"entity-type":"item","numeric-id":2965206,"id":"Q2965206"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"246463e500ac7951be72d9bf36145fd92d76fd07","datavalue":{"value":{"amount":"+0.848743200302124","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":"Q3187899$9A50D892-42F2-480B-B16F-0700B810F2A7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d2f6c76491ee01446ea810890e6db146ef7b77a8","datavalue":{"value":{"entity-type":"item","numeric-id":5194882,"id":"Q5194882"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e7ef45a652dbf98431162e40782314b7ea3446a1","datavalue":{"value":{"amount":"+0.838238000869751","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3187899$DF8197F1-46F5-466F-A1AC-2F10E61BED1B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0045ee26b1eea2dde1cc98095cd0bf50fda56377","datavalue":{"value":{"entity-type":"item","numeric-id":1718151,"id":"Q1718151"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ea8d669bc2137fbebaf661e6c4fdfb23133a3faa","datavalue":{"value":{"amount":"+0.7841651439666748","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":"Q3187899$B010C453-3F02-4CD7-858A-3CF07F72E181","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2579621762a6740b215f0ecd62b8dfa13ac2b29e","datavalue":{"value":{"entity-type":"item","numeric-id":5367960,"id":"Q5367960"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1c90b1e02c4f1f7b3434938dd11444141de97c4a","datavalue":{"value":{"amount":"+0.7717325687408447","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":"Q3187899$22062160-4E9B-4E49-AFFF-F5F0780F126C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"260bbe6d03f3944409509071ec06af4cf5b6f2b2","datavalue":{"value":{"entity-type":"item","numeric-id":5377270,"id":"Q5377270"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"88a2295717aaac4bd7776040e38fdca669305c99","datavalue":{"value":{"amount":"+0.7693166732788086","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3187899$B16BB211-FE92-44E4-8762-8B02E359F325","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Synchronization and tracking control for multi-motor driving servo systems with backlash and friction","badges":[]}}}}}