{"entities":{"Q6139909":{"pageid":13274216,"ns":120,"title":"Item:Q6139909","lastrevid":55535908,"modified":"2026-02-17T18:24:51Z","type":"item","id":"Q6139909","labels":{"en":{"language":"en","value":"An ADRC\u2010based PID tuning rule"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7780766"}},"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":"Q6139909$087944B2-09CC-4C54-AA86-E93DE9BEFDD1","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"c17d6b50028ca3c7adf8f686ba6c7fb2cbeff17d","datavalue":{"value":{"text":"An ADRC\u2010based PID tuning rule","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6139909$0863321F-ECAE-4530-995E-62FB0F11B764","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"96a14d8246b4fd877a34d4b71d2fac3b37ed9b92","datavalue":{"value":"1529.93039","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6139909$B6B0DE3E-91C6-4466-B603-290563699950","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":"Q6139909$129596B1-4EE6-42C4-AAAA-3F3DA1DDE2A2","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"58c5fef2334de8bf49adde887cf9f7f475a8a908","datavalue":{"value":{"time":"+2023-12-19T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6139909$23A5C472-3008-4270-A2FD-1B7BE0B48BE9","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6139909$B76EC2AF-5485-45D8-A7D4-219F0625B59D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"ef1dcc0b33599e1092b462fd190cf5343d5086bc","datavalue":{"value":"93C35","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6139909$2345393C-05F8-43D0-9532-FDA54E81C4E2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"923c8bef102bb6ebd35f125cc10b56d21864b3aa","datavalue":{"value":"93B53","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6139909$FE57AC7C-695A-4F21-B802-71537A757EE7","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"1d93d3329135834c3578bf34d4a04f6d4bc6d25e","datavalue":{"value":"7780766","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6139909$28ADA147-1AC8-49F7-9B86-94B2E51D6754","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9d3e926fbd609cec80497569a0ab6b9a9f3b4bf3","datavalue":{"value":"active disturbance rejection control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6139909$E3D820C3-73AF-47F4-84E7-19C7EDB0F351","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"02e4fc174455676d250d24ff63cb8667f9df6bc1","datavalue":{"value":"extended state observer","type":"string"},"datatype":"string"},"type":"statement","id":"Q6139909$05AE71DB-206D-44F7-894A-7B11DF4FDDE7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"327a8907e81752494b4e2a9bb82843056eed9f74","datavalue":{"value":"MIMO non-affine uncertain system","type":"string"},"datatype":"string"},"type":"statement","id":"Q6139909$7BD73B1C-4F20-4B38-9A6D-2414D4E4DB54","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"03b6a9e5907d70655b23142174af987289e26da9","datavalue":{"value":"proportional-integral-derivative","type":"string"},"datatype":"string"},"type":"statement","id":"Q6139909$FE6EB9A0-2921-4F58-A980-E1D503FE8E13","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":"Q6139909$14350DEC-1679-41FF-A5B0-01F975A41552","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"ee91a829dc5e8a9fe36b80467d63421664b14909","datavalue":{"value":"https://doi.org/10.1002/rnc.5845","type":"string"},"datatype":"url"},"type":"statement","id":"Q6139909$B9B45123-3FA7-41D9-AA00-CFAC6D0F0C7A","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"d6ed62db41b72a268c6161b4eeb25e32bce83e8d","datavalue":{"value":"W3205626476","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6139909$2529A651-1509-425F-A708-FF9D5FEECBA9","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"3096b474a54af9ff78fe52bb93127dc40d9d9e03","datavalue":{"value":{"entity-type":"item","numeric-id":4974255,"id":"Q4974255"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139909$96590257-5323-4DFD-BE1F-FAD0EDBBF5BF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b66032db192ca8fd8e7bb6fed19b78947ba704be","datavalue":{"value":{"entity-type":"item","numeric-id":5266774,"id":"Q5266774"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139909$FB615B54-DFD1-46DE-BFF2-F8C26EA3DB11","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"445a0504e7c4c156dc3765cef5851d403e08e6b5","datavalue":{"value":{"entity-type":"item","numeric-id":5193959,"id":"Q5193959"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139909$F72C5F6F-7E71-470F-9750-03D3C945FEEF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3eb4b0f4d670f004a70a05123ef95b30466cef09","datavalue":{"value":{"entity-type":"item","numeric-id":511737,"id":"Q511737"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139909$AB794D3C-1909-4EE9-8741-01C15302ACCD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e3178fbfb239e655759ab479a9c8a9c35302eb7d","datavalue":{"value":{"entity-type":"item","numeric-id":4567058,"id":"Q4567058"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139909$8AAA7272-FEEB-4EED-83F1-91BB16602CE9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"46a570d8b72cc0b65c022a3b1eb2221534104906","datavalue":{"value":{"entity-type":"item","numeric-id":4639557,"id":"Q4639557"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139909$E1269426-B781-4727-BB16-55304397D330","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1702cd70624083f190fd249c885679cdcbdc5242","datavalue":{"value":{"entity-type":"item","numeric-id":2181419,"id":"Q2181419"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139909$6815B8F8-108A-4659-87D7-7E5CBC243D11","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7cb2a97f8027df5bd62a00ea4dc9a4ee33e1be56","datavalue":{"value":{"entity-type":"item","numeric-id":472591,"id":"Q472591"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139909$6575FCED-8EFE-4B23-B733-9FB5ADB1AE7F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"95c4417dd96664bf6d872d0e05d3bd32e9b895a6","datavalue":{"value":{"entity-type":"item","numeric-id":423127,"id":"Q423127"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139909$6A0AB8AB-4F36-4FB0-BDEA-C7B7191DACC7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"466a7cd6f77f490677427aca724f6f5e5a6f7ebd","datavalue":{"value":{"entity-type":"item","numeric-id":1661975,"id":"Q1661975"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6139909$B2AF437E-3F15-4A62-9800-C77021CBCE1A","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"cbb6cf20fef68d79b92029ab0d85174d9042833c","datavalue":{"value":"10.1002/RNC.5845","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6139909$71A8FCA4-B8C2-4537-80E3-950D92D27201","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cb3c9cbca09d52040d32115c85ed122d9c5a948d","datavalue":{"value":{"entity-type":"item","numeric-id":2858297,"id":"Q2858297"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"043f311028eced11ad4e80d0c33945977f64757a","datavalue":{"value":{"amount":"+0.8044819831848145","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6139909$D04C3CD4-AB29-46D7-A967-BE1307DB0A52","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"01ee52929b8bd218dce80f522db7cf5c462b0374","datavalue":{"value":{"entity-type":"item","numeric-id":1691934,"id":"Q1691934"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ea5dbd936a5c59521b62f6833b3799722f4c7510","datavalue":{"value":{"amount":"+0.7939636707305908","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":"Q6139909$435A36D4-6846-4968-ABA9-5BC563AB1217","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0257eb68d4633067527630033bac6c308985eeb0","datavalue":{"value":{"entity-type":"item","numeric-id":2299019,"id":"Q2299019"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9267ea9e8a115a4ed090d4c955a65af508304e14","datavalue":{"value":{"amount":"+0.7780848741531372","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6139909$E6D7F7FD-6DE9-4A5E-8948-778DE0A71BFE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"045bb0ee02831aa4962fc06a75a5d94fac5ccb9d","datavalue":{"value":{"entity-type":"item","numeric-id":5371417,"id":"Q5371417"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2b711d7654e4e35ace2f6d94c922d40f1c35a1bd","datavalue":{"value":{"amount":"+0.7764884829521179","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":"Q6139909$BE9370F1-BD37-4988-9054-436EEEB0CFB4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"92ac7842c36c55a45864e14868f2020e99da5cd4","datavalue":{"value":{"entity-type":"item","numeric-id":6569595,"id":"Q6569595"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3dbf003bc4cc69092706da91e356864d882d50b8","datavalue":{"value":{"amount":"+0.7712722420692444","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":"Q6139909$25370650-27F9-4052-B43D-CA757B53A5D7","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:6139909","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:6139909"}}}}}