{"entities":{"Q1372759":{"pageid":1383499,"ns":120,"title":"Item:Q1372759","lastrevid":67496391,"modified":"2026-04-12T18:23:22Z","type":"item","id":"Q1372759","labels":{"en":{"language":"en","value":"Output stabilization of square nonlinear systems"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1081900"}},"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":"Q1372759$ED73826A-6D38-44E9-94E2-AA97C8A8B657","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"f98ca9de0141f4e6eb8e5db620ac4067780b029f","datavalue":{"value":{"text":"Output stabilization of square nonlinear systems","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1372759$D4B31194-0DEB-47EF-9AA3-DA89E0F55ABD","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"d809fc4b13d0d9c8e68aef1725c8d18945d34e11","datavalue":{"value":"0882.93070","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1372759$FB1E86B9-6187-4C74-BA11-579FCA8B52F0","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"e7b0f9393a108a8aca6de7ac865356bcefeae705","datavalue":{"value":"10.1016/S0005-1098(97)00052-6","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1372759$619452A8-F361-46E8-BC3F-5AC64D3E9177","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"2993a2ee00c1c318268cae5fd7dcab7ec23b3429","datavalue":{"value":{"entity-type":"item","numeric-id":273966,"id":"Q273966"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1372759$444408D3-B594-42ED-B238-ED5F00BEBED3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"a93eb8f2f152df8379a1ad5faf343beb124c7ba7","datavalue":{"value":{"entity-type":"item","numeric-id":1372758,"id":"Q1372758"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1372759$206173B0-E9C4-4005-B3E7-533D6FDCB2D1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"505dbe176179c5df6d57eecc0a6a8cf3fc724841","datavalue":{"value":{"entity-type":"item","numeric-id":161935,"id":"Q161935"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1372759$111A096A-0D3C-465C-B5EE-ABF6D37E7EB7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e3f8d764d9ed56825ea8fd867a885e56c548574b","datavalue":{"value":{"entity-type":"item","numeric-id":267824,"id":"Q267824"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1372759$C34A9B0E-449F-49D1-9A7C-2BEAABE65E29","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":"Q1372759$64EC605A-60B2-4D21-AA8B-052C44617B96","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"41bd464af959f1d39dcdde9372100cb844fa6305","datavalue":{"value":{"time":"+1998-03-02T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1372759$DB8B6019-FA54-4FB0-85BE-E4D3A09583C5","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"b12538f820e8b77d105bfdd98b56612fb13567ec","datavalue":{"value":"This paper describes an approach to the problem of designing static-state feedback laws for regulating the output of square affine nonlinear systems. The authors decouple input and output to simplify the output regulator tasks into a collection of single-input, single output tasks, where the input-output matrix is of full rank, this approach leads to the well-known input-output linearizing feedback law. When the input-output decoupling matrix is rank deficient, the authors show that a static state control law can be constructed provided system input and output can be decoupled by dynamic feedback. They also provide an algorithm to accomplish this construction. This linearizing extended output stabilizing (LEOS) control algorithm is demonstrated in an example, where a regulating control law is designed for the kinematic model of a mobile robot.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1372759$C7642D65-1E75-42BE-B2A6-C957B62F7A7C","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"406c80d213b264ba577b5aab979b8ac352491ba7","datavalue":{"value":"93D15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1372759$FF420357-8A50-456E-89B7-1140CAC4D809","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1372759$9567835C-B75A-46AB-941A-C1DDFA367B6C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1372759$DB62439E-837A-4406-9FDE-E6CD880DBC90","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"2cd31ed9f8837de0156db3ceea3c1bceac67410d","datavalue":{"value":"1081900","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1372759$C93F77B4-4FE7-4A84-BAC9-58C5060E1308","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"88fad4da0efcf0e32bc43233b8c7f77320d37be3","datavalue":{"value":"output regulation","type":"string"},"datatype":"string"},"type":"statement","id":"Q1372759$879B1F88-78F5-4E75-BCDF-958EB951BE60","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8ca4efa2fbd628559a1a418b00adcee4d0607e50","datavalue":{"value":"singular control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1372759$782AC86D-FC77-4BA0-B160-4D39B00CBA26","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"acad61b946c4ce6b7a43fb8f8ee86dccadec2404","datavalue":{"value":"stabilization","type":"string"},"datatype":"string"},"type":"statement","id":"Q1372759$16F750C9-B17C-4992-A7FF-AD112B40FA3A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"94ca68da4f19827fca3437437bd12318f7ffdafe","datavalue":{"value":"feedback","type":"string"},"datatype":"string"},"type":"statement","id":"Q1372759$8D4CDE25-42EA-498C-B624-8E1AA1B04EE6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f4651fae9d12e26bb456e8184d8837c6e4544d5e","datavalue":{"value":"nonlinear systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q1372759$9FD7DB12-5163-4A0F-8DEC-923C19A55944","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4a5dca2790463aba4673989ae680cbaf0f720c33","datavalue":{"value":"dynamic feedback","type":"string"},"datatype":"string"},"type":"statement","id":"Q1372759$38B0897B-8E3F-4F55-AAB3-31A97ADC6182","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ec3c87a222bff4d19b3a62d2427de238f8e7f7f9","datavalue":{"value":"mobile robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q1372759$10712B80-34FC-4895-AD22-421931BA0092","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"6b9102c13c80e8969fe945919ec2c5dd96f51712","datavalue":{"value":{"entity-type":"item","numeric-id":590124,"id":"Q590124"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1372759$E0E5268C-950B-4D18-9F26-D21D27E6CD1E","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":"Q1372759$66792382-6E42-4FD9-A9F9-E460217AD3E4","rank":"normal"}],"P223":[{"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":"Q1372759$7A152213-3426-4997-99C6-F64102EFE0A0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e21be8859097ac0c135191a3d0b5b0bbf584603b","datavalue":{"value":{"entity-type":"item","numeric-id":4031531,"id":"Q4031531"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1372759$601C13B8-79E7-45C8-A9DD-D12C25CA901A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f0947e9d5c3048a8afa372d07abd72da00445473","datavalue":{"value":{"entity-type":"item","numeric-id":1192598,"id":"Q1192598"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1372759$BE7526EA-83C2-40D1-BC56-C091D9AC7352","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"206c84045c43ae1e6e6a7d02fdcfb6e85031b6af","datavalue":{"value":{"entity-type":"item","numeric-id":4324877,"id":"Q4324877"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1372759$433AE352-ED87-474E-82F2-937CB4CBE8AF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ed658e7231383b1c034b90db423146c582b12fbf","datavalue":{"value":{"entity-type":"item","numeric-id":3996565,"id":"Q3996565"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1372759$DEF6440B-6E78-4EAC-A6AD-498E193D5537","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":"Q1372759$D64442F3-3A51-4236-91DB-A4E38217827F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6c7f43b7bf92e3dec8d85c34e20bb7a850975edf","datavalue":{"value":{"entity-type":"item","numeric-id":5752454,"id":"Q5752454"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1372759$7B5273B0-A3A9-4021-9415-B53A52C45B97","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ffe1522f10dc6a966d8a3033e80f979ce98b3cae","datavalue":{"value":{"entity-type":"item","numeric-id":5903033,"id":"Q5903033"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1372759$0DB0F929-75A2-4748-8879-E56FC6E9849A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"60bb59a64972f6c01a0f9db9802a0bea8023bc66","datavalue":{"value":{"entity-type":"item","numeric-id":1258272,"id":"Q1258272"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1372759$502C8BBD-F60D-4563-B1D7-461AEE5DE0F7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"854a447f1ca419f3198e86cc0c5f0f74dfa2fd9a","datavalue":{"value":{"entity-type":"item","numeric-id":3985340,"id":"Q3985340"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1372759$02D962AF-F316-4987-BB8E-96B4E988EB80","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"e8ecc7da3bb7be64dedfb6a896b5583b1a965668","datavalue":{"value":"https://doi.org/10.1016/s0005-1098(97)00052-6","type":"string"},"datatype":"url"},"type":"statement","id":"Q1372759$5E63DA08-C6B9-49D2-B6DE-538934FA3E17","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"725bc26133dc50c5cdc621e1d8da4a8edaef1241","datavalue":{"value":"W2005907373","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1372759$BFA78B28-EB20-4B98-8CC4-E085982DE4EF","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1e481f973fc52902211d438517e5a654fb89bbf0","datavalue":{"value":{"entity-type":"item","numeric-id":4240468,"id":"Q4240468"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2bfaa527f72f1124bf3e735070bb14984adf0b07","datavalue":{"value":{"amount":"+0.91978216","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1372759$4E14DD6F-AA24-4B82-A994-89A29D234CFD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"411e2a1ecac3e137a9914bfaaa37215e655f8c51","datavalue":{"value":{"entity-type":"item","numeric-id":1775212,"id":"Q1775212"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"95d2acc80aa8749442d71d737fb413fb1351ae7d","datavalue":{"value":{"amount":"+0.9155916","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1372759$E4627608-1ECB-4B91-8256-05E2C078DC12","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f85c7ff7e79271384d6a1ce35dc4c33d8edfa667","datavalue":{"value":{"entity-type":"item","numeric-id":5967067,"id":"Q5967067"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0670dc0ec4a64356ffea10210d4e42d468db777b","datavalue":{"value":{"amount":"+0.90637934","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1372759$FE626612-0222-40FC-A5C9-EA080D43BAEC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"76ff717dc2cacc7adaf2b5c03ce32ba36f4bc4f8","datavalue":{"value":{"entity-type":"item","numeric-id":5906638,"id":"Q5906638"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0670dc0ec4a64356ffea10210d4e42d468db777b","datavalue":{"value":{"amount":"+0.90637934","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1372759$19887CAA-464E-4BA1-B38A-B5A0E0F8697A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"036459e485c38e922060f7f66a366cef5b8a5b9e","datavalue":{"value":{"entity-type":"item","numeric-id":4828584,"id":"Q4828584"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"14da1047ec610c0ab7c809eef1ae9ea554c28921","datavalue":{"value":{"amount":"+0.90184045","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1372759$788548DA-2D4F-480F-8361-6E1E77EBBB65","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8e23ae81962f6e83d7b338d26deefc19a1d180e8","datavalue":{"value":{"entity-type":"item","numeric-id":1356137,"id":"Q1356137"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a135498d8c2bce3765aae3543e54da798f80f9e5","datavalue":{"value":{"amount":"+0.8965998","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1372759$9A7B88E1-DE12-48CC-94A7-3DE19ADDC112","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a13d654331196121dbd81b4c00a071c02cf0efe9","datavalue":{"value":{"entity-type":"item","numeric-id":5426923,"id":"Q5426923"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"647cfa63c2409903f12de3461c8734428fc8f819","datavalue":{"value":{"amount":"+0.8963514","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1372759$0D45D652-C701-4586-90CF-BC15BF3EA938","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1f4badf34b657efc0c8e5f15ef092b710bbb56bf","datavalue":{"value":{"entity-type":"item","numeric-id":1687002,"id":"Q1687002"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9ba7407ab6c0bd3c1481e38b6fe28c9fdcd6da5a","datavalue":{"value":{"amount":"+0.8963313","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1372759$A02FA248-8212-4FBE-BE69-54FA22FB597F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"520c4bcc1a9ee42a686af8d887c8de30db7c8e0b","datavalue":{"value":{"entity-type":"item","numeric-id":4506674,"id":"Q4506674"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3a844d31243d2ce4fad39101506a954fadce5adc","datavalue":{"value":{"amount":"+0.89566445","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1372759$70C2B388-7ED9-4ADC-A898-9D6C705BEB35","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"65a6b49b6188860da7ea24e7cd704362b4120ffe","datavalue":{"value":{"entity-type":"item","numeric-id":5280421,"id":"Q5280421"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6ac896cd411f0d9010186e2683186bb8edccbc9d","datavalue":{"value":{"amount":"+0.89462876","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1372759$369F7089-77C0-411B-91A6-78200F8F16E2","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Output stabilization of square nonlinear systems","badges":[]}}}}}