{"entities":{"Q3478321":{"pageid":5504333,"ns":120,"title":"Item:Q3478321","lastrevid":49380244,"modified":"2026-01-07T01:43:46Z","type":"item","id":"Q3478321","labels":{"en":{"language":"en","value":"Sliding-mode controller design of a single-link flexible manipulator under gravity"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 4147963"}},"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":"Q3478321$8661B858-372C-40F3-A69E-61F23361D800","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"c19f45c26255e3d518753a2da8cceabb4f4e29cd","datavalue":{"value":{"text":"Sliding-mode controller design of a single-link flexible manipulator under gravity","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q3478321$15622030-57A1-41FC-85D6-59C614D6670B","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"6dec0c8bce20e32d419e6efbb262da2a269f81d1","datavalue":{"value":"0699.93042","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3478321$42F4C915-BA9D-45A4-92F8-A17C78DFD65D","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"46713b26e8bc8b11553ad48ef4a3556cde0d9979","datavalue":{"value":"10.1080/00207179008953526","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3478321$EEEBC2F0-B933-4F35-8751-04665701D585","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"65f050adcdb787da184ea343d4c237b0eb33786f","datavalue":{"value":{"entity-type":"item","numeric-id":1923074,"id":"Q1923074"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3478321$85433136-088C-4617-BE87-5E4D11A417DE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"f215605ad5c384909369d0a97df8967d654c8d7e","datavalue":{"value":{"entity-type":"item","numeric-id":2730299,"id":"Q2730299"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3478321$2CB2FED4-063D-49EC-958F-49E5D4EA5905","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8fd1f09f03b2151af9bae64b3990df459d820d19","datavalue":{"value":{"entity-type":"item","numeric-id":159993,"id":"Q159993"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3478321$E6CF7A85-5EFB-423E-85BE-E64A6B587957","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"70d2fbf8bcd48a5ca1ac752985098b379d0dbb65","datavalue":{"value":{"time":"+1990-00-00T00:00:00Z","timezone":0,"before":0,"after":0,"precision":9,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q3478321$2C5DB7C2-C009-444E-8F27-FC9E616323D2","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3478321$4C79B458-616E-4775-8D86-0917D163CC3D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3478321$6F1688C0-9BB1-4175-ADE2-7A4328546061","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"d6c670ac731a27c7bfd90316f3e999219e79aab5","datavalue":{"value":"93B50","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3478321$08EEBC40-850A-43F0-AA73-35A19C823974","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"4bea41a9b6ec19d97c0d1556e906afcf8707cdcc","datavalue":{"value":"4147963","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3478321$BF1571EB-EFCD-45D1-8FA8-C0FC856175C1","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"be63a11e4259cd6784adc67321930d4a0f255ede","datavalue":{"value":"single-link flexible manipulator","type":"string"},"datatype":"string"},"type":"statement","id":"Q3478321$96FB6A20-A118-484B-B69A-C62D76C038F8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"19f2eace46794a432476264dd57d8bd67eaabc2c","datavalue":{"value":"sliding-mode technique","type":"string"},"datatype":"string"},"type":"statement","id":"Q3478321$B67C3D65-AAD7-4251-BAEA-DAF5978BCDC7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3d64a9aeef97d10da113e6db131e495f13947180","datavalue":{"value":"tracking problem","type":"string"},"datatype":"string"},"type":"statement","id":"Q3478321$B643C9E1-D62B-45F5-B586-C2C9A3B6679B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"67576314c3e0615087819e1ab1eefdeae68139e1","datavalue":{"value":"flexible arm under gravity","type":"string"},"datatype":"string"},"type":"statement","id":"Q3478321$1A7D45C2-7130-4507-8387-035E5DBFF69B","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":"Q3478321$826179D9-9058-4FD6-AABD-C2FC444B6161","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"44336848d996e21dc692cc87fc9261f66d825870","datavalue":{"value":"https://doi.org/10.1080/00207179008953526","type":"string"},"datatype":"url"},"type":"statement","id":"Q3478321$33B3BDDC-2A15-4EEA-B0FC-679C8146FEE1","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"47b97619577ed2e0d4d5375a665183c24fe40f07","datavalue":{"value":"W1963988031","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3478321$B11B9884-77C0-4A30-BB61-26116A8AF53D","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"24c61782804c5f34315687de0a89a04d5c0c9823","datavalue":{"value":{"entity-type":"item","numeric-id":4721936,"id":"Q4721936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3478321$8091642D-D931-42CC-B08C-470DE2B77A06","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"18df3c809f7f3dfeeed8c65903c0edab3b581b2b","datavalue":{"value":{"entity-type":"item","numeric-id":3978387,"id":"Q3978387"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c6a18a289715a140ce1117f3f54b3fc75c2ba1d7","datavalue":{"value":{"amount":"+0.8624776005744934","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":"Q3478321$219FD0C0-D564-4963-9046-E0BD20964B5B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f996e8da0bcbcc35aa38e90ffd5b2b2f9942b4f7","datavalue":{"value":{"entity-type":"item","numeric-id":3373479,"id":"Q3373479"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9c6166956922b1be1add461969fb90ce0d7cc8fd","datavalue":{"value":{"amount":"+0.8599876165390015","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3478321$E0379F57-5310-45B9-873E-11B70B2EA6D8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5eb6c490dc9d8044660058671ac55d6ce18449ce","datavalue":{"value":{"entity-type":"item","numeric-id":4003843,"id":"Q4003843"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2f0528708b9c70245cb0d580ffd2648b8414a5b9","datavalue":{"value":{"amount":"+0.7739207744598389","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":"Q3478321$864EB3DF-88BE-4A60-9FBC-CA1875B7C7E9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"30b23e32c96b18bc24cb6c7ec66ecd2d5bad9462","datavalue":{"value":{"entity-type":"item","numeric-id":3989386,"id":"Q3989386"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2f0528708b9c70245cb0d580ffd2648b8414a5b9","datavalue":{"value":{"amount":"+0.7739207744598389","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":"Q3478321$9CC27F14-7CD0-4D0F-B26D-40B549A2D7D9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"aaee5d8df1720bbd64be0631519216336bbc4f28","datavalue":{"value":{"entity-type":"item","numeric-id":4293319,"id":"Q4293319"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"50ca4552c6746fe59263228cb9f6b5c44ac80297","datavalue":{"value":{"amount":"+0.7687162160873413","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":"Q3478321$1EE0BC61-742F-44C9-B1A5-0121B84694A0","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:3478321","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:3478321"}}}}}