{"entities":{"Q4974573":{"pageid":7004152,"ns":120,"title":"Item:Q4974573","lastrevid":41685944,"modified":"2025-05-07T05:44:38Z","type":"item","id":"Q4974573","labels":{"en":{"language":"en","value":"A Sub-Optimal Second Order Sliding Mode Controller for Systems With Saturating Actuators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6758101"}},"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":"Q4974573$13385FF0-CB11-4A60-A0BA-97309DB6B527","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"f28765ea348ef272f5e095a2f80b40b512cf55c0","datavalue":{"value":{"text":"A Sub-Optimal Second Order Sliding Mode Controller for Systems With Saturating Actuators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4974573$2431A36C-5AEE-48A0-A04F-DD1B7AF7062F","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"1d57dcbc6fb3edab83ad0b141b7fa6385b1d793d","datavalue":{"value":"1367.93121","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4974573$DF400020-58D5-40C5-A2A8-1270B27FF380","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"e6ee4b4cc45256279e20703d77adc60b04f3e0b5","datavalue":{"value":"10.1109/TAC.2008.2010992","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4974573$034B0118-2521-4D6C-923D-761505404D5A","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"ced1642c0c41d4f31173691b1decaaa6f3bf1bc1","datavalue":{"value":{"entity-type":"item","numeric-id":2807915,"id":"Q2807915"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4974573$3C568D5A-4289-424B-8BB3-A2F29CC09E74","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"8384fdfec882151af5786499bb0a224128af77e3","datavalue":{"value":{"entity-type":"item","numeric-id":397310,"id":"Q397310"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4974573$A5F86D26-472D-46FD-9F41-71617A8EC6CC","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"231075b9dab1b13e4c64992ef81666085035687e","datavalue":{"value":{"entity-type":"item","numeric-id":123639,"id":"Q123639"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4974573$F6781686-56F9-49C6-A22A-FA624D10714F","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"103a35658eea03bd788b34f359587c9a72983f21","datavalue":{"value":{"time":"+2017-08-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4974573$AEEEDDAC-BB2A-4A04-B632-EBAC450B7F62","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9f9620f736fe7e9d98419851a30eb0cb81dd3f3","datavalue":{"value":"93B12","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4974573$590D072C-9652-42D2-B056-E6C590F81B95","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"216a608e3fa79d664fb5f28a72edf15852141160","datavalue":{"value":"93B27","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4974573$E9CA4A5F-2F56-4A20-9581-31C6C044A561","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"5f4c9220c8072ffd1dde8a0722c7f6b4d275a2c8","datavalue":{"value":"6758101","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4974573$D4A8D47C-90CB-4E7A-A737-6EA430746A76","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4974573$B4DE3FEA-7C5A-4DAE-9A4A-9F5F39C31BE1","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"7b24ef94c0b2944afe7c8278a589d168fec63261","datavalue":{"value":"Q59240937","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4974573$FF6FF8F1-DD2F-49F2-BA55-D2623086F40B","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"76251e12d54668f8ed7e7cc5187ef340ab8cb734","datavalue":{"value":{"entity-type":"item","numeric-id":2817339,"id":"Q2817339"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"62669fb3bd2630453ed4c4f6044a0d166112e80e","datavalue":{"value":{"amount":"+0.90725535","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4974573$726CE4BE-F549-4245-86F3-4ACD839171E7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4f5611154872f6cbbb7f6f70c74ddb391269ca43","datavalue":{"value":{"entity-type":"item","numeric-id":4938988,"id":"Q4938988"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2fd70d12c114eb226d4eebcc2e949379898e61d4","datavalue":{"value":{"amount":"+0.90369767","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4974573$E76487A5-954E-44DF-9E50-C92BD7AFF22E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ac5cf82c8ccc1c751fa387e486deed1fb1ddb619","datavalue":{"value":{"entity-type":"item","numeric-id":3133868,"id":"Q3133868"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1f44bbc1c1dd283921a17f68e28bfd0e1b995f56","datavalue":{"value":{"amount":"+0.8990859","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4974573$67A02B3D-A811-4E80-B505-AAAA61F19028","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"212365569d79e5beda666e5b11a63c228d1c9abc","datavalue":{"value":{"entity-type":"item","numeric-id":4623878,"id":"Q4623878"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e57f501dd566afeafeda0048882d9d51b5d995f3","datavalue":{"value":{"amount":"+0.8954988","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4974573$6D7DA37F-B513-4D3C-9BAD-6A76A015E808","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b1f6be9e8180e67e7dd57db562d399a74d60f83d","datavalue":{"value":{"entity-type":"item","numeric-id":4979335,"id":"Q4979335"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"af9765ba52c624c836dcae9ff86e84fd301b907b","datavalue":{"value":{"amount":"+0.8947738","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4974573$DAFE07F7-EFC9-4C68-A4AB-6F00D2784D2A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a6ce549d4163d1cd363c8155d34f7e13e029483c","datavalue":{"value":{"entity-type":"item","numeric-id":5855901,"id":"Q5855901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ef67dc7cc197a8aa37c6ed9b91737692309946f6","datavalue":{"value":{"amount":"+0.89237654","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4974573$2D2B42DD-9A18-44F6-8356-070319F3EA56","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0b044b894aae4187e80045bc1197286c549fd67e","datavalue":{"value":{"entity-type":"item","numeric-id":5162709,"id":"Q5162709"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f4496af3b0408a059bb4167ec62ea2c37cdd2e05","datavalue":{"value":{"amount":"+0.8912933","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4974573$32B2ABDA-AAE9-4162-839A-E3ED1EE79C27","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"954dc486fd9c4c52f5165a04a11e8e60f05a1940","datavalue":{"value":{"entity-type":"item","numeric-id":3162188,"id":"Q3162188"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f9e24f174122ebe86f61625f026014e44a8fbb3e","datavalue":{"value":{"amount":"+0.8905826","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4974573$DF013C33-BB50-4D7F-AF31-CF2703F67825","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fa1d57cf454191323fd3c4b6a232c72824107aac","datavalue":{"value":{"entity-type":"item","numeric-id":3757770,"id":"Q3757770"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"aed40efabfc91acae9df5dc78e43c452a86f5733","datavalue":{"value":{"amount":"+0.88930976","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4974573$C91C1838-421D-4A43-BDF0-C5EC17F61B20","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"acbc6dc4a695d69e35d51c49e7b80307780012cc","datavalue":{"value":{"entity-type":"item","numeric-id":4910564,"id":"Q4910564"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bcde2686b1921f5615b2d671bc7a1de7f95dc89b","datavalue":{"value":{"amount":"+0.8872758","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4974573$FD3933E9-71BF-4448-A010-9B96EE7932A9","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4974573","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:4974573"}}}}}