{"entities":{"Q5949058":{"pageid":8125860,"ns":120,"title":"Item:Q5949058","lastrevid":47703961,"modified":"2026-01-02T11:49:08Z","type":"item","id":"Q5949058","labels":{"en":{"language":"en","value":"Hybrid control for global stabilization of the cart-pendulum system"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1672675"}},"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":"Q5949058$55426200-7A92-40C6-9E65-47F04C614AEA","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"cddad800bbccfa690d16ad29fc3f3ea2c5418165","datavalue":{"value":{"text":"Hybrid control for global stabilization of the cart-pendulum system","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q5949058$9FCF5817-DAE1-4FC6-BA29-D11EA8198139","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"9293168d2ba0dd94759f929cd58aad5773051526","datavalue":{"value":"1005.93041","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5949058$E4E1FA08-65D7-4A80-ABB5-3EE7BB49C622","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"629820f82827b14fab52d3f8b16b79f39203a17b","datavalue":{"value":"10.1016/S0005-1098(01)00164-9","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5949058$F7E082B9-0CDF-46B7-B8DB-49FA34147CA7","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"d29f82f8bb525ac9db1211b2316cf5e6f2cf5199","datavalue":{"value":{"entity-type":"item","numeric-id":215192,"id":"Q215192"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$106888F1-3201-4D8E-8A6A-72CEB50F00CE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"b750b504d4410f6db62e885affb20d50db2cb868","datavalue":{"value":{"entity-type":"item","numeric-id":215193,"id":"Q215193"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$3F893EE9-E5EA-4ED3-86B2-BE56749F6E4C","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"69a11602bb4f474f716dc259849d1837f4cd9e2e","datavalue":{"value":{"entity-type":"item","numeric-id":161901,"id":"Q161901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$9DE68E23-4788-48B6-B9C1-ABA6175A9777","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"01951c93e885717866d268dd1e73bbf555019176","datavalue":{"value":{"time":"+2003-02-19T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q5949058$56DC4856-05BF-49A8-9AA9-30D59E9D41CA","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"1eab41232172171159490a9d0e55237ba80765b9","datavalue":{"value":{"entity-type":"item","numeric-id":590966,"id":"Q590966"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$FC31E69B-BF07-40A4-A8B7-077E84E55F06","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"406c80d213b264ba577b5aab979b8ac352491ba7","datavalue":{"value":"93D15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5949058$7B3CFD96-DF73-4502-9695-694F30B94467","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5949058$7C1499F7-C174-406A-B490-A3B25492D4F9","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"9053b680f45e1ed14c43dca96173bde1b8a4f25e","datavalue":{"value":"1672675","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5949058$1EE7E314-2B8D-4645-A031-1B4B3EC1EB6C","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"74537d28edb1ffbe0587b889f28e4b6499b7b728","datavalue":{"value":"hybrid control","type":"string"},"datatype":"string"},"type":"statement","id":"Q5949058$A8F0EE48-E178-4843-91A1-662E652073F1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5eeef2bbe1d48ae2838b16a7be06a829ee12d9d9","datavalue":{"value":"cart-pendulum system","type":"string"},"datatype":"string"},"type":"statement","id":"Q5949058$9AC91C22-757B-4294-B738-DA3D357523D6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b1c025a889e73ac5bd5403a37d1936485207b8ef","datavalue":{"value":"global stabilization","type":"string"},"datatype":"string"},"type":"statement","id":"Q5949058$836ECD4E-6340-47D2-94E2-05D6171A5100","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"77c747ef073cefa4984dd2d489f2b2fa9270963a","datavalue":{"value":"bang-bang controllers","type":"string"},"datatype":"string"},"type":"statement","id":"Q5949058$B3F11588-F5A2-4695-BA11-3C041B01C45F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"36ef98f2b7902e1a699d53f4049a20b2ec1d9e30","datavalue":{"value":"switching strategy","type":"string"},"datatype":"string"},"type":"statement","id":"Q5949058$9B27F3CE-6212-4720-8C01-6F99D431EA76","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"620f9db869a7fa1565283dbe88aa2c5cf5d7b2a4","datavalue":{"value":"direct Lyapunov method","type":"string"},"datatype":"string"},"type":"statement","id":"Q5949058$C8E03BFC-8F21-4438-8092-D218667AAABC","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":"Q5949058$87163155-2B0E-4E37-BFBF-1F1810F9157D","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"217f17b59d3e22e91cf798028aa792cee0404f9b","datavalue":{"value":{"entity-type":"item","numeric-id":4393072,"id":"Q4393072"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$3A231AB8-5263-4F9F-B13D-6CDAFB74030A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2978624eff08bc07780874cfe7fa6c72513337f9","datavalue":{"value":{"entity-type":"item","numeric-id":4395811,"id":"Q4395811"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$7A7593A1-FDBC-49AD-8C07-8D4A01EB0BBD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4ec4c5cfcb9e50abbcbfe9e93987f6fb950ee477","datavalue":{"value":{"entity-type":"item","numeric-id":4859383,"id":"Q4859383"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$249F867A-404F-47AC-8211-DA7AC75FA823","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"af6a67a272fcab38c5b9e2b8e821b2d5ac3dbee3","datavalue":{"value":{"entity-type":"item","numeric-id":1898490,"id":"Q1898490"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$CB91A1C4-883D-4C65-917E-DBD6943A0383","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fd463858d3bcd60ca4cc9d6384d62994429c97c0","datavalue":{"value":{"entity-type":"item","numeric-id":4506734,"id":"Q4506734"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$21CFDB34-0454-4F2F-8DCA-8F036A038DF4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5a5eadde9b68469c97536aa3775c9f3b7fdd2a5c","datavalue":{"value":{"entity-type":"item","numeric-id":4400230,"id":"Q4400230"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$E06F4D95-01DE-40A8-B703-4EFFCEEA71FB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1953c5557f7851102467661e0ce610a2d18a4c31","datavalue":{"value":{"entity-type":"item","numeric-id":4506529,"id":"Q4506529"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$294EA242-5713-48D3-B302-35508D1EA17B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"241fc9a7d47384c0c6e7904f3592647309ada017","datavalue":{"value":{"entity-type":"item","numeric-id":1061695,"id":"Q1061695"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$5A55694D-94B6-40C4-A520-B8018AC64682","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c46caa4711d14f1101edb5a0d0f90fc7a5c02c64","datavalue":{"value":{"entity-type":"item","numeric-id":4717197,"id":"Q4717197"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$FBE5F507-E6A6-472D-B12E-9FAB9795BF43","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2a8476be47194eeb6551bb339b69a72aae984626","datavalue":{"value":{"entity-type":"item","numeric-id":4609900,"id":"Q4609900"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$C6468A52-520E-47B1-B432-B0C63D6ECE0C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4e2120880abfde505a8409162a8a5bd8d5b82421","datavalue":{"value":{"entity-type":"item","numeric-id":1905923,"id":"Q1905923"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$B1033DE3-FD30-4239-AAED-EA8DF68D2B16","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eda5b9e55b947aefd99046870258f41ddaf5aa50","datavalue":{"value":{"entity-type":"item","numeric-id":5689349,"id":"Q5689349"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$5BDCE2E8-065F-4FAD-8673-A9310D3FDE74","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9c68a4c7f317d5a61d8e865ae8bf40df604a1749","datavalue":{"value":{"entity-type":"item","numeric-id":4395831,"id":"Q4395831"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$A4702885-770F-4AB8-BC0A-D5C6750B22EE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c4a6845f2e56b2a4e94b05317a0ffc975ee39d89","datavalue":{"value":{"entity-type":"item","numeric-id":4306780,"id":"Q4306780"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$75D8B553-05E5-4317-A267-C9CDCC3A0049","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c6976dea678578160f32173b27926034162e174f","datavalue":{"value":{"entity-type":"item","numeric-id":2388221,"id":"Q2388221"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$7DFEB51F-D86F-4BAF-ADA6-7FAA732C7C1B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"355b65fc8e5e1942038ad147dd4a3101a5ee4d91","datavalue":{"value":{"entity-type":"item","numeric-id":1301365,"id":"Q1301365"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$D3B365AB-E02F-42B2-BDBC-B4A44A9572E2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"14d62397a8c120500c40b0e25ad3f7a94ed26e9e","datavalue":{"value":{"entity-type":"item","numeric-id":4353661,"id":"Q4353661"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$4815BF05-3C99-4736-91D2-CFE207D1F97B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1764f3ad8b829986a1caf833aa9881331bc8fb0c","datavalue":{"value":{"entity-type":"item","numeric-id":1898489,"id":"Q1898489"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$E0B4E634-1145-4272-9D9F-3C4212320B90","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c592fb29cc241c7c31ccb801342f59ddf14d1366","datavalue":{"value":{"entity-type":"item","numeric-id":4393071,"id":"Q4393071"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5949058$D73EB710-B1BF-4BDF-8B1F-5716E04CE3CB","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"f215b6432ace63e785629c339e77e2eb00dd112d","datavalue":{"value":"https://doi.org/10.1016/s0005-1098(01)00164-9","type":"string"},"datatype":"url"},"type":"statement","id":"Q5949058$41ECC24A-E379-416D-82B3-CFC9C980167E","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"60f4649445f52662dc7dc931f2be5453660a8463","datavalue":{"value":"W2046711285","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5949058$310D052F-7588-4D41-81FD-E7CAF097C8E4","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"a1dbb6aa0968b5f0a27250551129e73b6dcb13d1","datavalue":{"value":"The cart-pendulum system is a mechanical system that has been studied to understand control theory and to demonstrate the validity and usefulness of design techniques and algorithms. Cart-pendulum systems in many cases have quite similar dynamics like underactuated robot systems. Though the dynamics of the cart-pendulum system appears quite simple, many standard techniques of nonlinear control are ineffective.NEWLINENEWLINENEWLINEHere, the authors suggest a global stabilization controller of the vertical position of the cart-pendulum system. The design procedure consists of three parts. First one has to find a neighborhood of the origin in which a locally stabilizing controller can be used. Second, one has to construct a linear controller for the cart-pendulum system which steers the position and velocity of a system to the orgin. And, in a third part, one has to design several classes of bang-bang controllers and a switching strategy which guarantee that the trajectory of the system, starting from any initial position, enters the neighborhood of the origin where the locally stabilizing controller can be used in finite switching time. The local domain of attraction for the linearized closed-loop system was obtained by means of a direct Lyapunov method.","type":"string"},"datatype":"string"},"type":"statement","id":"Q5949058$D21DEED8-6506-4F9B-95D2-DE86500AA285","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e7eb952fe9cb1655675d5424aa159d23f0a2f5e4","datavalue":{"value":{"entity-type":"item","numeric-id":410566,"id":"Q410566"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"261b954938ce6eb7a02ab41bbd4944ddfd196cef","datavalue":{"value":{"amount":"+0.8371860384941101","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":"Q5949058$962B830B-A4D5-44CD-861E-3D429734EBA5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3749148def9ec6dd50e32ed06e3bfadb6badaa43","datavalue":{"value":{"entity-type":"item","numeric-id":2758327,"id":"Q2758327"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4d772155df667cef8d299bfc542e9f3bc829dbac","datavalue":{"value":{"amount":"+0.8257386684417725","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":"Q5949058$1BA749CF-C55B-425F-8325-48006D46CAAB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a22564b8fc975f94aeb3a030b0756f28b4888b9f","datavalue":{"value":{"entity-type":"item","numeric-id":1868084,"id":"Q1868084"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4d772155df667cef8d299bfc542e9f3bc829dbac","datavalue":{"value":{"amount":"+0.8257386684417725","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":"Q5949058$3B0B2B36-5D2A-425F-A830-803984814F29","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bb009711e68493a93a00c880f7120faf8f7941bd","datavalue":{"value":{"entity-type":"item","numeric-id":1000827,"id":"Q1000827"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"463c660c42858fe5db7afc28a3af418877675299","datavalue":{"value":{"amount":"+0.7940030097961426","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":"Q5949058$2B26A095-E3CB-4B04-BF42-D5A9133D72DA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c1f7e04eca1fb45ce16dbccccc56ff6dce4853b9","datavalue":{"value":{"entity-type":"item","numeric-id":1575420,"id":"Q1575420"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9ce892ceeb2b669e45c1dde5c39dd49a63de2199","datavalue":{"value":{"amount":"+0.7890245318412781","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5949058$BFF43E86-2FFC-40AB-AD17-DD29126409AC","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:5949058","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:5949058"}}}}}