{"entities":{"Q5029203":{"pageid":7058780,"ns":120,"title":"Item:Q5029203","lastrevid":54223346,"modified":"2026-01-26T12:10:35Z","type":"item","id":"Q5029203","labels":{"en":{"language":"en","value":"Immersion and invariance disturbance observer-based nonlinear discrete-time control for fully actuated mechanical systems"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7472809"}},"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":"Q5029203$3F642C9A-EA8E-41E1-A89C-27DCA3E4B5F5","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"2f58b5a282b4a6344ec5c19e4c068a1b7e5feab0","datavalue":{"value":{"text":"Immersion and invariance disturbance observer-based nonlinear discrete-time control for fully actuated mechanical systems","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q5029203$189F0DB0-5623-469D-AE55-4B6F7018FE2C","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"6a0c9264c0a36d60ec759b7231cca574651f36ed","datavalue":{"value":"1483.93358","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029203$E18CFD1C-14D7-4C5B-B757-CE571FAD1920","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"ea75f063d847c82f94b4aa6ccd4f97e312ad9536","datavalue":{"value":"10.1080/00207721.2021.1958025","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029203$B79B6EC7-75D7-447F-9005-998750061097","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"568f8c02377453a5a9a04601e62d456dc961d957","datavalue":{"value":{"entity-type":"item","numeric-id":5029202,"id":"Q5029202"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$D66F5EA0-7A40-49E5-A341-890B15230D97","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"49e0f05ebd2257469f8e46ce272d3fb1a6eb8e13","datavalue":{"value":{"entity-type":"item","numeric-id":522885,"id":"Q522885"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$97A195CB-A8A6-4BE9-B291-CDB73740DBB5","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"9d1ee80fedd18ed506519a2ef8030c0d60d05ac5","datavalue":{"value":{"time":"+2022-02-11T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q5029203$E266A01A-0DCB-4753-AE53-48351EEA2B5C","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"39a0025ac480893a6c3723330b06364463bbd01f","datavalue":{"value":"93C55","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029203$AE251B34-6D8D-437D-A93D-E20930B75183","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"923c8bef102bb6ebd35f125cc10b56d21864b3aa","datavalue":{"value":"93B53","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029203$D8E730AB-CE9F-4C3E-B5F1-754B3B8BEA78","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"62b95b6f7919542f12b1e12b0279617ef6dfa9f9","datavalue":{"value":"93C73","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029203$D5433F25-6C40-4E8F-A179-59766972F9AC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029203$18A52E8E-A024-4426-BAE2-F3FC76DE3E28","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"7ae0a986d607d9b0c7df46eb597d9aa7ca19fc1f","datavalue":{"value":"93D20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029203$541F62A9-DF14-4E7D-876A-629605EF99A2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029203$6689EEE0-8550-4018-A9E7-BFDABD652914","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029203$0035DB90-D86E-45C0-82D5-DC4FAE05B46A","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"f8d2b5fd43d1ee2f4baafd45bd170e77b96d8f51","datavalue":{"value":"7472809","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029203$C14C3938-D0E4-4148-A268-1110EDEABFA0","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4f4b76c1208a7d42eb72e2b7e3c16bd1e097665c","datavalue":{"value":"disturbance attenuation","type":"string"},"datatype":"string"},"type":"statement","id":"Q5029203$8ED2EC8E-F1FC-4499-A4DE-BBC35C17BC25","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a5df11b4d4dae18e3eba0b62417e224fad7663ab","datavalue":{"value":"discrete-time nonlinear disturbance observer (NDO)","type":"string"},"datatype":"string"},"type":"statement","id":"Q5029203$F71EDD5E-1D25-44B8-AC22-31490AF70194","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"115f7591f68ea49e3d95ccf1aa57ef7e5f6ddf92","datavalue":{"value":"discrete-time control","type":"string"},"datatype":"string"},"type":"statement","id":"Q5029203$E0DF6E86-C544-4696-9FB3-42CC0A67953C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"93cd398ada7f5855d3c064c8ba804155d3c35148","datavalue":{"value":"immersion and invariance (I\\&I)","type":"string"},"datatype":"string"},"type":"statement","id":"Q5029203$AB8D0392-EE94-4FDB-9FB1-8D8C311A7E9E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c3942e957b8827216d43b5381c295956cf010f10","datavalue":{"value":"feedback linearisation","type":"string"},"datatype":"string"},"type":"statement","id":"Q5029203$4F4602C0-B1A6-4DFE-B372-F79D5EFBA000","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"85a62ffb7e8f2cb60139308a154098fb4b517332","datavalue":{"value":"backstepping control","type":"string"},"datatype":"string"},"type":"statement","id":"Q5029203$639D6DBA-D688-4125-955A-98A9AA5465F6","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$C02FC652-23C1-44DC-8053-FF1E2B589579","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"23791bd21b9d3ffe6538cb4c9f9e2686c983d123","datavalue":{"value":"https://doi.org/10.1080/00207721.2021.1958025","type":"string"},"datatype":"url"},"type":"statement","id":"Q5029203$6EA9BFFC-94FD-4B05-AD26-7FB09E455ED9","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"70cb33571e0aa65a2a0218935af7e4de9ce59b66","datavalue":{"value":"W3187223561","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5029203$0FA5A2DD-8EA8-41D4-9177-2E192F6BE654","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"6d1e85649b1151fbb01c4288d7b1c6d73cf2fd07","datavalue":{"value":{"entity-type":"item","numeric-id":2512101,"id":"Q2512101"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$E4C9224A-B48D-45E5-883A-B4BDF343A4D7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"22c45b47ecb9bdf859e629688572908ecd6d1685","datavalue":{"value":{"entity-type":"item","numeric-id":5266880,"id":"Q5266880"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$7392D872-ED63-4FB6-A455-525125E08938","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b705bb19915e4124a21e974a7e02769bf9b6b0de","datavalue":{"value":{"entity-type":"item","numeric-id":985289,"id":"Q985289"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$1D4586BD-D317-4060-8672-612A40E69D22","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a6c47011fe923948397091c4ba46c0bd7e6e00da","datavalue":{"value":{"entity-type":"item","numeric-id":5028046,"id":"Q5028046"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$8DCDB9CC-5C5D-4BB0-8A2C-07A910C42CFE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e54af077f0fe724f0e32e578922db55acdd9e998","datavalue":{"value":{"entity-type":"item","numeric-id":4644361,"id":"Q4644361"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$B4FA99C0-525B-41A8-9E94-2962621F5DF5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ba15df45ca1b0f2afe2dd641bf8064ae8882e128","datavalue":{"value":{"entity-type":"item","numeric-id":2356675,"id":"Q2356675"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$D1AD69EF-F759-4B91-A23B-CD8F7047D41B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e1c0301129750fae1c172c2e1513aa034d8c374c","datavalue":{"value":{"entity-type":"item","numeric-id":5265937,"id":"Q5265937"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$DA819B43-E4AD-4BBA-9158-C5BB9E5FD53E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8ea46ac711d2dcdf3cb2f6aae8fb38089a167371","datavalue":{"value":{"entity-type":"item","numeric-id":2377991,"id":"Q2377991"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$72AEF17B-6AB5-4EB6-8B48-290DB70F3B45","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9f536fe7770ac1deaab4c9d96d8f2945eb2c8e1f","datavalue":{"value":{"entity-type":"item","numeric-id":6166303,"id":"Q6166303"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$CED0BDA5-9633-4717-82B1-A7D12095669B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f747a92e8fd463c88b207a801b6a2a4ecff62741","datavalue":{"value":{"entity-type":"item","numeric-id":4566778,"id":"Q4566778"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$235CD3FE-F2E4-44E8-A404-7CFAA66707C1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2c2393e97e64ee18f1cafb22397a643f4447eabc","datavalue":{"value":{"entity-type":"item","numeric-id":4003793,"id":"Q4003793"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$C52A096D-CCFF-47A6-9D85-53B470F030F9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2fc45864afb675a68aa5accaf4f883cb80d460ba","datavalue":{"value":{"entity-type":"item","numeric-id":5026715,"id":"Q5026715"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$FC53B2B2-B3CD-4A9F-9475-8A570C7E2291","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7885ddf3dc7133bc5967e1ad74043e4ae186b4a1","datavalue":{"value":{"entity-type":"item","numeric-id":341676,"id":"Q341676"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$3F08020B-DC44-4A31-8F74-65156A840598","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1c833a09159a17c737cf64a12449c4c91d8ac28e","datavalue":{"value":{"entity-type":"item","numeric-id":1000797,"id":"Q1000797"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$88456075-29E9-411A-9ECE-794F2BF258F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"afd55e702cd7186d07fc6cf1941032d1463c554c","datavalue":{"value":{"entity-type":"item","numeric-id":522886,"id":"Q522886"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$E3E8042D-29DE-4E1B-AD13-0B466EF1B6DF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"94ee2540110d723a21fa7d2ecc12cb66c6ae776c","datavalue":{"value":{"entity-type":"item","numeric-id":1932725,"id":"Q1932725"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$BF234EDD-83D0-4FE8-BD11-AC9A82531CA6","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"7d28953bd0f0c2d8508713f8e55254124cfc990d","datavalue":{"value":{"entity-type":"item","numeric-id":6544798,"id":"Q6544798"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5029203$A88E6834-66A4-4CF6-AFF2-225E23231D1D","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2e667622dc95afab3df3ed3b2bc9078621ad91fc","datavalue":{"value":{"entity-type":"item","numeric-id":2812834,"id":"Q2812834"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7ddf510ad5d51fecd0fd2dc5af35c56af86e2910","datavalue":{"value":{"amount":"+0.735856831073761","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":"Q5029203$BEAC6D9E-96CC-4A7C-B9C3-B443D2C4C211","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"56824e432cdfe8e5650bdcc08fc16ccb13f6ac53","datavalue":{"value":{"entity-type":"item","numeric-id":1993074,"id":"Q1993074"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ab2debf5ac30cea57d82821addf15e182d7463cd","datavalue":{"value":{"amount":"+0.7279974222183228","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":"Q5029203$86353324-98F7-42BD-82E4-F03AD87CA037","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"40921c8851a60340b6da05d11afe40e937fba8c3","datavalue":{"value":{"entity-type":"item","numeric-id":1738509,"id":"Q1738509"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6db45430a988a68b692576fd081a3544c22a7634","datavalue":{"value":{"amount":"+0.7241045832633972","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":"Q5029203$35E1D882-14B2-4B3F-848A-D35E9A5EB9F8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d1d4c1e7a38d4fbf9afddbdc6a2bd6602860fab8","datavalue":{"value":{"entity-type":"item","numeric-id":522886,"id":"Q522886"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3eb47db5c919829776c63518bfb95a15f4094c5d","datavalue":{"value":{"amount":"+0.7219334840774536","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":"Q5029203$61A1A08D-359F-4D57-B36B-CF53CEFE83E7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"781174427eae91ee5a04a8ca78debf56e4a942c4","datavalue":{"value":{"entity-type":"item","numeric-id":1631256,"id":"Q1631256"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c32565c77debc1c143d3d7ee2f5a69154394ce42","datavalue":{"value":{"amount":"+0.7207540273666382","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":"Q5029203$19F6664C-7913-485D-AE55-F5E9D1B8EE97","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:5029203","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:5029203"}}}}}