{"entities":{"Q6085137":{"pageid":13219444,"ns":120,"title":"Item:Q6085137","lastrevid":98775599,"modified":"2026-06-05T18:27:30Z","type":"item","id":"Q6085137","labels":{"en":{"language":"en","value":"Energy shaping control for systems with underactuation degrees two by controlled Lagrangian method"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7773512"}},"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":"Q6085137$00B87129-8572-4876-BDCF-8D7DCD740A26","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"db41ba56cc879fc560092d9acc357a29968d359b","datavalue":{"value":{"text":"Energy shaping control for systems with underactuation degrees two by controlled Lagrangian method","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6085137$14679EC0-D41F-4E71-9120-C3221506DF7D","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"e9f348a248db979639a065bdafde6c8d6fb71af8","datavalue":{"value":"1527.93185","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6085137$C64EEE99-B4BF-42C8-A392-4FBCF6BE8402","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":"Q6085137$096E3818-A741-452F-B7D1-17B9CF17C4A6","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"1b7b8fa1f1118f284828a8e40972bc56fa868a11","datavalue":{"value":{"time":"+2023-12-02T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6085137$197EAD68-9C70-49CE-92CD-552D394AF8E2","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"5a51013239e705dbb008583c85b92be535c924c0","datavalue":{"value":"93C20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6085137$DD7632A5-EDE2-4DF7-BB88-E025833B565B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6085137$2CB54830-F5BF-4B1E-B5F2-CE86BFCB7AF8","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"03fabdc270ea782ad184247cb82620c15388439a","datavalue":{"value":"7773512","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6085137$E365E361-7C7F-4E7E-B9B1-25F41BA66E01","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1313e81ec853c453b6816353ece60b57a1f2af57","datavalue":{"value":"underactuated mechanical systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q6085137$296741D0-55C8-446C-B1F6-FC1DCDD7DE6E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f8c757a7ef54a9c024ea8d5e4250a86b96eb5f74","datavalue":{"value":"energy shaping control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6085137$EC638C6C-74E9-4842-8BA9-3B763A037716","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d9ef77bef1c1b565ca2f6caeba5793892c675043","datavalue":{"value":"controlled Lagrangians","type":"string"},"datatype":"string"},"type":"statement","id":"Q6085137$B59033EA-7C44-40D4-B75C-C68F0F026ACB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"735dafa2ae2876c46aff17392887e55cecd9f8d4","datavalue":{"value":"matching conditions","type":"string"},"datatype":"string"},"type":"statement","id":"Q6085137$6FE276BE-1D6A-4B1F-AFEA-535497DF40F0","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":"Q6085137$31D959FA-EC19-4523-B577-40A847720977","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"30b316c4eaedeafa1cae432d19d2ddffca1a8ac3","datavalue":{"value":"https://doi.org/10.1002/rnc.5983","type":"string"},"datatype":"url"},"type":"statement","id":"Q6085137$909E2CA8-457C-452F-A22B-0DAB2E58DEDB","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"f07641d80562f134aedbea4d25f0b190d0c9c6b4","datavalue":{"value":"W4206549832","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6085137$403589E9-4FE0-44A8-8B90-471D0A11355F","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"0a4a739d7490888773194e05aec554e5a7eff94f","datavalue":{"value":{"entity-type":"item","numeric-id":6068310,"id":"Q6068310"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6085137$86C36957-E084-4111-BD63-B254AA9D383E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6108931a7ab46e7e0835c94bd5367be3da847b03","datavalue":{"value":{"entity-type":"item","numeric-id":4990853,"id":"Q4990853"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6085137$63C4D3EF-5D93-4E66-84E9-BFDB736A868E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cf992aba483417c3f65ed373cdc8cab1e7250ddd","datavalue":{"value":{"entity-type":"item","numeric-id":4990594,"id":"Q4990594"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6085137$6F685F59-7278-4F67-8FD2-7DFBEC70DA64","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"487f95e6cdec1a3a4e4794a4678c685b3db88042","datavalue":{"value":{"entity-type":"item","numeric-id":5223456,"id":"Q5223456"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6085137$B2273B4B-9647-4051-8CBA-E8B608AF8C4E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e9d12e4cdaabd57090e7f5763e8b0f04949f0cfc","datavalue":{"value":{"entity-type":"item","numeric-id":4990381,"id":"Q4990381"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6085137$97D4674B-C7D6-4DA2-ADFC-C4DE89188342","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b2146437f7fe10ea99f27930aff2f397bf658311","datavalue":{"value":{"entity-type":"item","numeric-id":5267101,"id":"Q5267101"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6085137$504C0E6F-CA99-44E2-A2CC-3FA7DAA0EE47","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"977565dc3d62296ea9d16efddd9671073da9689c","datavalue":{"value":{"entity-type":"item","numeric-id":3151662,"id":"Q3151662"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6085137$329C0322-1929-41FF-A205-2E3B4CF562F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bc0b04efe5625208753e308ae2251aa5dd4a8046","datavalue":{"value":{"entity-type":"item","numeric-id":4421096,"id":"Q4421096"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6085137$E6BA83FA-BFA4-4A2D-9FAE-8F1ABD0DDE41","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"26034a48146732fb97d5d4ba84834b6ba4dd8040","datavalue":{"value":{"entity-type":"item","numeric-id":4487954,"id":"Q4487954"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6085137$E16C4D6B-5587-4CE4-B46F-341D5B554079","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e89a2edd976cff908985737fc11f0733cb7c1eaf","datavalue":{"value":{"entity-type":"item","numeric-id":2390617,"id":"Q2390617"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6085137$A4BC6A7B-E121-4506-AB17-D40CB3783EEB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cdae27fed80ef41f57376939eabf6ccb13550548","datavalue":{"value":{"entity-type":"item","numeric-id":4441907,"id":"Q4441907"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6085137$FDFB98B0-E7A2-4672-93CE-F534935CE1F9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4760d704cee17801e6a9d4fad7335da86b3e7b69","datavalue":{"value":{"entity-type":"item","numeric-id":5274235,"id":"Q5274235"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6085137$E55ABF12-715A-4FC7-A608-417B24484921","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a0c946d69f92d0ff920a7d5d69e8c0ba887184ce","datavalue":{"value":{"entity-type":"item","numeric-id":2730320,"id":"Q2730320"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6085137$42BE0023-432B-460D-BE50-71382E794642","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ad878d26f65eb5c6aee4bf250dd450fe001f3303","datavalue":{"value":{"entity-type":"item","numeric-id":2716787,"id":"Q2716787"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6085137$FFB8F472-0840-451D-A080-3CD6B3ED40B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"951dadaa34a1999f602da170806fafbe773e1d24","datavalue":{"value":{"entity-type":"item","numeric-id":5282153,"id":"Q5282153"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6085137$EE05953A-A879-4E80-91AA-A8340E987DF5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2ce66f01bcc253fa0a6c7af9ea6b7283e25a1722","datavalue":{"value":{"entity-type":"item","numeric-id":3566372,"id":"Q3566372"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6085137$FA82BE7D-9D43-4705-8FF7-F5454A182525","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"aa0f8712e8f66911cb6b7d0e1e8f2d7ed24a93b2","datavalue":{"value":"10.1002/RNC.5983","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6085137$FD6253C7-7876-4D14-A25F-E46DB4ED6FD4","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bda89a6c3d4cfe11d8fc68b18f8a8daa1f246700","datavalue":{"value":{"entity-type":"item","numeric-id":3566372,"id":"Q3566372"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e829a59814fd0224a8943b4dfb404ab83b6de2c9","datavalue":{"value":{"amount":"+0.844999372959137","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":"Q6085137$85B6D0C9-B99F-4D5B-8BB9-D7F620448302","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3593c170bbe4ffdd9175d8883d3cde64b601a4c6","datavalue":{"value":{"entity-type":"item","numeric-id":2840122,"id":"Q2840122"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3a8b737ccf95ebe8379e5d216f4d4ce714a7ac7f","datavalue":{"value":{"amount":"+0.8410676121711731","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":"Q6085137$2713F799-3559-42E2-A2A1-54C790154D87","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"319ccf01ff413bf700b7cd66fd497a75f63e2b50","datavalue":{"value":{"entity-type":"item","numeric-id":6173505,"id":"Q6173505"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a9de9a451a190b5af0674553c6db7c541fef8b8b","datavalue":{"value":{"amount":"+0.8033806681632996","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":"Q6085137$2DC234FF-55FA-4DD2-ACFA-C98B70207AF7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"46d0a29e91be7d930f8c1a69a4eb89e2df6ae0e4","datavalue":{"value":{"entity-type":"item","numeric-id":1678615,"id":"Q1678615"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"12039ca23ac06e92bfc611a7c08d929bd494529d","datavalue":{"value":{"amount":"+0.800615668296814","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":"Q6085137$07D5464A-E516-4CFD-9A26-37527429D9AE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c1e5a3bd7649cec29a4c30515ec3f8d03dc6934d","datavalue":{"value":{"entity-type":"item","numeric-id":3086743,"id":"Q3086743"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3f70c39180fb98ef5ab9646c9cef290ae5670676","datavalue":{"value":{"amount":"+0.7953139543533325","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":"Q6085137$2808B10C-9477-4ACF-B294-00335D15939D","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Energy shaping control for systems with underactuation degrees two by controlled Lagrangian method","badges":[]}}}}}