{"entities":{"Q6054869":{"pageid":13189024,"ns":120,"title":"Item:Q6054869","lastrevid":93776441,"modified":"2026-06-05T05:06:02Z","type":"item","id":"Q6054869","labels":{"en":{"language":"en","value":"Smooth, time\u2010invariant regulation of nonholonomic systems via energy pumping\u2010and\u2010damping"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7754413"}},"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":"Q6054869$0EFA9C66-E581-4EBF-B24C-C23469611AFC","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"26b80542455a994b1a1d2a9dfd1e6d7cf7975c52","datavalue":{"value":{"text":"Smooth, time\u2010invariant regulation of nonholonomic systems via energy pumping\u2010and\u2010damping","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6054869$7DF11E38-0944-45AD-B55A-C29EA5FEB106","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"54a9b4418998c10e62dc0bca7d7e4ec918a32255","datavalue":{"value":"1525.93104","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6054869$C3E5A2A6-BD4B-4134-8C2F-062859273C17","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"939fcaf482f3c47763a352a24f456c697504566d","datavalue":{"value":{"entity-type":"item","numeric-id":826814,"id":"Q826814"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$01F576E6-7335-4924-904E-D15CC1DCEB92","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"98d06c43078f5f685d282fb4084f4705a818bcc8","datavalue":{"value":{"entity-type":"item","numeric-id":786761,"id":"Q786761"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$EA298EF5-B2F2-4A91-941F-78ABCE70CCE1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"ca5fb583371285f50d66fed3250bfb8f33c93894","datavalue":{"value":{"entity-type":"item","numeric-id":389857,"id":"Q389857"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$D07E825F-A836-46D3-9E43-FD3894C061B1","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"50b8674a675fb6cb1ce5f58b071e4afdb153e2c6","datavalue":{"value":{"entity-type":"item","numeric-id":2710025,"id":"Q2710025"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$E90C2A1C-76BB-462D-8618-CECA5D475471","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"57a7e417d2fb573cdec180dd2079009ed54f0531","datavalue":{"value":{"time":"+2023-10-25T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6054869$F36F0C56-4667-4CA1-ACFD-C1CD8A61E32B","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"9589140eb4aa35bc98744038a31bd3e57b99b227","datavalue":{"value":"https://arxiv.org/abs/1812.11538","type":"string"},"datatype":"url"},"type":"statement","id":"Q6054869$493F306B-DBE4-46E6-BAC8-6FB3B4D730BC","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"931f9bc6fe69aba6508703df7e266476edb87eb8","datavalue":{"value":"93B51","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6054869$159BBDDF-3A30-4F45-97A2-AC2B39F0BAE5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6054869$951392AB-A15F-4ACA-915B-2D34B1EFE385","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6054869$9EF99D06-10EA-4503-A68A-710A2FA178C6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c41c3b48806f65b48642453f3d3ae9504dc0ea98","datavalue":{"value":"70F25","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6054869$4DBF28FC-BF1B-4917-8DCE-855C1629677F","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"995451158f9a505e42c74f01a06c249882a0b48e","datavalue":{"value":"7754413","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6054869$81DB814A-B9E8-4DF6-9D10-92F34C1F5369","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"774bd3d0bddedfcf5a3408e454c4e38033eb5c94","datavalue":{"value":"energy pumping-and-damping","type":"string"},"datatype":"string"},"type":"statement","id":"Q6054869$15929572-2C3F-4718-A219-880FF170AEDB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fe3c496650910ac31efea379ca0d9630d560f27b","datavalue":{"value":"interconnection and damping assignment","type":"string"},"datatype":"string"},"type":"statement","id":"Q6054869$FAFD4848-0508-4278-89B3-21C6FCE69FFA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7da4268bdd0a2e7ef9be4c14ae67271057bb1b10","datavalue":{"value":"nonholonomic systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q6054869$F1077752-9555-4AF1-B969-43CDAE81D2F4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8b76d73026261b33d43462e8d2d338ecf11d4a0b","datavalue":{"value":"passivity-based control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6054869$8B17F4FC-D4B2-473A-8812-3178FE88F609","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":"Q6054869$0DBB8BC1-BC3B-49F3-BA91-DB130E291DC7","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"0619f44f12355162a73944b1770c858a6159cd35","datavalue":{"value":"W3049689100","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6054869$0C94E818-825A-48FA-ACEA-BA5308A8C1C2","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"eb668a9ee836cb382fcd317f73577a474cdb4630","datavalue":{"value":{"entity-type":"item","numeric-id":1810402,"id":"Q1810402"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$7A96646B-27AD-4405-A2CA-B0B55616252E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cf1d41cb2d3d22f82a636f62ccb9dc4e09056188","datavalue":{"value":{"entity-type":"item","numeric-id":1860539,"id":"Q1860539"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$5E2BE349-6C61-4B4B-B4B5-3E96C7DDE1FE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"408ddd20bf57c3863f4b16a72d48d54c185be0b3","datavalue":{"value":{"entity-type":"item","numeric-id":3309568,"id":"Q3309568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$23C8F23C-0D91-4B61-B77D-8B43D1EF9039","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"10bae07e50340fa92bafbe3f44145a255d2b9cad","datavalue":{"value":{"entity-type":"item","numeric-id":1184277,"id":"Q1184277"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$50FCE212-0FB6-4A27-9D69-7C0B58BE64C2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"40f21a799a6a9debff4b063f93c84cd350416455","datavalue":{"value":{"entity-type":"item","numeric-id":5941042,"id":"Q5941042"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$9541339E-A10F-43DC-8791-0C26A3C486D9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b8fb0b2b0f35a25d87bdae9693ab882dbbc23c45","datavalue":{"value":{"entity-type":"item","numeric-id":672719,"id":"Q672719"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$7B7081F9-96D9-4FBA-B0DC-8E2C0F090299","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ad7e6285c3222d94a3bbf5bd06fba0e16c168fce","datavalue":{"value":{"entity-type":"item","numeric-id":1932697,"id":"Q1932697"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$76A8F1D2-0C5D-4CF0-BD4E-25A116CA1686","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c090fe1b38ffcd772b08ec2baa6aeb6b3f749693","datavalue":{"value":{"entity-type":"item","numeric-id":1407764,"id":"Q1407764"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$F9C3DE6E-3807-4810-9AA4-EBFBA42BA33E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"50e8c268ad4e4b68ef4d6defd1677161b71b8876","datavalue":{"value":{"entity-type":"item","numeric-id":1301407,"id":"Q1301407"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$9E12F6BE-1A8F-4431-BC1F-B445315D4B38","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1f54e0a251ce0c798b5f99405427a1af1342b860","datavalue":{"value":{"entity-type":"item","numeric-id":1129669,"id":"Q1129669"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$4AE4A551-E72C-4839-BADD-76E43E001DC7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5e6b35d8811f4bb1b3ffd391b5d259924f56129e","datavalue":{"value":{"entity-type":"item","numeric-id":4954324,"id":"Q4954324"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$80C737BB-5A3E-4E18-BED5-CA406F382167","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0031518868cc7f0d4164ef17389a52331552fa6f","datavalue":{"value":{"entity-type":"item","numeric-id":5266733,"id":"Q5266733"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$90AF2028-B048-427E-84D1-AFB0C9697F78","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5269c2f4c3c48c89b49833677061ccae1f758986","datavalue":{"value":{"entity-type":"item","numeric-id":2288671,"id":"Q2288671"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$F83DBE03-9DE6-4CEB-A8B7-0ED37614ECDA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4701cc1c11bee4308d6b002878e93a215277448d","datavalue":{"value":{"entity-type":"item","numeric-id":1613164,"id":"Q1613164"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$8BF0751B-FD09-4107-918E-7DAE14F0EE85","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"57535f0320654d29322140e964047cb2b39bdb11","datavalue":{"value":{"entity-type":"item","numeric-id":2511923,"id":"Q2511923"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$682CE42C-B97D-440F-ABE2-18A2D98B119B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"788f7fb1a75b280227a8186ae1446b1289d190f3","datavalue":{"value":{"entity-type":"item","numeric-id":958282,"id":"Q958282"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$573754A7-BDFA-4459-9F8A-E3F0529E46F6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"52b76e379d67a63dcfbf1966cb6f73851d58c1a4","datavalue":{"value":{"entity-type":"item","numeric-id":2771497,"id":"Q2771497"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$9948479E-6FC2-4FA6-8477-A11207F674A4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3098f0bcc36648405e5612c8b7becc0d216147eb","datavalue":{"value":{"entity-type":"item","numeric-id":3140192,"id":"Q3140192"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6054869$DA1CAD68-F090-4DA5-9BF1-E429E3E3B0F7","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"0fd4e39f936a7348360052e486c57e90294dac2f","datavalue":{"value":"10.1002/RNC.5109","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6054869$B1C0D5A8-720A-41E4-A8AC-82045B5CDCA5","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8b58ee49842fc6f9e8c9c60b25a9849a5d63d3b0","datavalue":{"value":{"entity-type":"item","numeric-id":4031519,"id":"Q4031519"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f573739a05a8c88d7ebc55c64078b15a248da5c5","datavalue":{"value":{"amount":"+0.7476102709770203","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6054869$C0686DB0-B51C-4194-BE2B-F7B9F13C7DA2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"eacaa691c5f0168fa0d4fab192bc303326ee44c2","datavalue":{"value":{"entity-type":"item","numeric-id":5958603,"id":"Q5958603"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2fbe1993dc5520befc5254c0800636763b2e512f","datavalue":{"value":{"amount":"+0.7440297603607178","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":"Q6054869$479DEB77-92C8-4F7C-8348-CAA5010159F9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6e54a64816c3a27adbd7ed842d00ed1acd0ed02f","datavalue":{"value":{"entity-type":"item","numeric-id":1614355,"id":"Q1614355"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4c7f4b4f4e7799b8b6302c8cd4bd504d53cd1024","datavalue":{"value":{"amount":"+0.741753101348877","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":"Q6054869$9504085F-4089-4BBC-BB65-CE4FAE8CFECF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fed3837fdb1a2b955054c294885e3488d452acb9","datavalue":{"value":{"entity-type":"item","numeric-id":1932697,"id":"Q1932697"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9cdbc8ef21948e1369ca28d1824189deffa0ee4e","datavalue":{"value":{"amount":"+0.7248993515968323","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6054869$EE38E43E-287D-43F4-A874-EC6D4BC7B5C1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b0903ca58ba11c1b43cfa48d8074c65e2c4bec9d","datavalue":{"value":{"entity-type":"item","numeric-id":3151481,"id":"Q3151481"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"72aef731fc063e9e393baa02c54f4640a5739122","datavalue":{"value":{"amount":"+0.7244884967803955","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":"Q6054869$D2B634E6-13A5-4403-B490-8EB90B06F194","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Smooth, time\u2010invariant regulation of nonholonomic systems via energy pumping\u2010and\u2010damping","badges":[]}}}}}