{"entities":{"Q3187840":{"pageid":3198548,"ns":120,"title":"Item:Q3187840","lastrevid":52613753,"modified":"2026-01-23T02:50:34Z","type":"item","id":"Q3187840","labels":{"en":{"language":"en","value":"Nonlinear model predictive control based on constraint transformation"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6622932"}},"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":"Q3187840$1EEAA766-160B-40E0-AF0E-823B70C44F70","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"54b8e320c5b4616cd7bfcde94081dd39c58c2814","datavalue":{"value":{"text":"Nonlinear model predictive control based on constraint transformation","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q3187840$FD133271-C8D0-460E-A776-5F04F4041C92","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"00e33c1762fa52bb4b56f30a7f3f9e39e2997998","datavalue":{"value":"1343.93034","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3187840$FA5FC61D-7227-414F-B17D-E2DA71563442","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"bb3996296ce0455270fbd947fd81b22bac025bfc","datavalue":{"value":{"entity-type":"item","numeric-id":3187839,"id":"Q3187839"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$3AFC17A0-80FB-485A-A853-B7EA7699A324","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"fca05a8a4c41ddaf52e05f43b631cff0063d4837","datavalue":{"value":{"entity-type":"item","numeric-id":445950,"id":"Q445950"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$192D08E4-FC25-431C-BF8E-CD57EB0BF487","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"c42ad213f9b7f39d3e9ee142840c36c28e5864b9","datavalue":{"value":{"time":"+2016-09-05T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q3187840$BBEA01E4-2710-436B-99F9-D76E54D34939","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"10e7ae4f3272e1b3be03ffc40fe137c122ddd99d","datavalue":{"value":"93B40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3187840$5C470946-D9A6-4EE2-8AB8-B6FB883EC5CF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0ba2842931f306df7115450868bb0fb7d07d2a0c","datavalue":{"value":"93B17","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3187840$6F7A2898-01D2-4295-9F7F-D8B39164B205","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3187840$8FB9C1FE-D891-45DE-A06F-63E4E1EF13A4","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"230f7bd832d48472db1504463f78d688b811d987","datavalue":{"value":"6622932","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3187840$731A1157-587A-40D9-9738-9044D910081A","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a676eed2045b791f06a3babf3451a28a80e8b312","datavalue":{"value":"model predictive control","type":"string"},"datatype":"string"},"type":"statement","id":"Q3187840$AC8EB40C-0D58-4037-A58F-27B12021DC2C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"551394baf4b9b70fef0fe82234bab7b8a2460bd0","datavalue":{"value":"state and input constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q3187840$BCA5595C-10E1-49B8-8798-CD3D8F0C55C3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8c68a995e8fd60dd0bd6d9df80ba53a4faae0e56","datavalue":{"value":"constraint transformation","type":"string"},"datatype":"string"},"type":"statement","id":"Q3187840$5261D99B-65AF-4E9F-893D-23CB2FDD7C35","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"34b44e7b40021effdee26093512bde7058814281","datavalue":{"value":"stability","type":"string"},"datatype":"string"},"type":"statement","id":"Q3187840$7C8AC9CB-1B64-493C-A34F-5E7F63D52925","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9cd4186f5eba0077e2d252cdc6ca05d46f9194c7","datavalue":{"value":"numerical efficiency","type":"string"},"datatype":"string"},"type":"statement","id":"Q3187840$FD90185F-1F12-4596-B78E-C4F9BF149EE0","rank":"normal"}],"P1463":[{"mainsnak":{"snaktype":"value","property":"P1463","hash":"bda0c8101a3a1dadcff3ba9af65c5b8d2e1c7b8a","datavalue":{"value":{"entity-type":"item","numeric-id":16931,"id":"Q16931"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$07F5D1C2-4D45-4EE1-AC78-3F0AB52FD665","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$A2EB53FA-8B7C-46EF-94D9-83E307D6C2E2","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"b0d691f834fc387ff2f38184876735c4d5b23f6e","datavalue":{"value":"https://doi.org/10.1002/oca.2215","type":"string"},"datatype":"url"},"type":"statement","id":"Q3187840$7F2FBFCC-CCFF-4CAD-A68A-354635C00CCA","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"8fde801e7dd4def86c258681e5a16ff44b9d8edb","datavalue":{"value":"W1920388074","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3187840$855B0F0F-2AC9-4479-9821-E5FAC5B9D2C3","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"d578dc49b4c5761ad6bdb450c2df0f61eebf8332","datavalue":{"value":{"entity-type":"item","numeric-id":632378,"id":"Q632378"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$F0A917E7-12A0-4555-8AE5-D625BF52FC2B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b420ec1bc0791541a1b349455776f7181d468697","datavalue":{"value":{"entity-type":"item","numeric-id":1977035,"id":"Q1977035"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$F2B53613-FD78-47C7-A851-C61C31922DC1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1fb23698bc8e32b2787f7f268eca3660ad43b505","datavalue":{"value":{"entity-type":"item","numeric-id":5266988,"id":"Q5266988"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$E75F4AD5-22BE-47F0-B7EE-F3277DF20D92","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"384c265964b61a54381fedb21ac2bfc08e2203e2","datavalue":{"value":{"entity-type":"item","numeric-id":5953537,"id":"Q5953537"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$2A30931D-AF81-4A53-90B0-2B80F99B8369","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"54a3b3d0775236d60e1d49319fabedd1c7ea2b80","datavalue":{"value":{"entity-type":"item","numeric-id":3589800,"id":"Q3589800"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$CE45E9D1-2053-4194-8338-79A90F4EAC53","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b4d85477fd562f0993bbae9154a457f378086d40","datavalue":{"value":{"entity-type":"item","numeric-id":5405758,"id":"Q5405758"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$C6E98E1C-3964-4282-851C-C56B4765E5A7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"474b7e5c0d8cf5a9b274bd233be63067711b4aad","datavalue":{"value":{"entity-type":"item","numeric-id":5691079,"id":"Q5691079"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$FC739168-1B56-41C7-A586-0EA3C74E7FD3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e62c3df5ba8616fd3a821ba283a0c4401b2ebb17","datavalue":{"value":{"entity-type":"item","numeric-id":5352837,"id":"Q5352837"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$3C4FF7F7-7960-428D-91A5-890C360095D9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"749b58f90072a1b18533e3a1908da40f94eed480","datavalue":{"value":{"entity-type":"item","numeric-id":1890994,"id":"Q1890994"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$D88D467F-E9C1-4F19-A0B0-E17933B3AEAA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cfd42df9202d94523b179a25728335be8ded678b","datavalue":{"value":{"entity-type":"item","numeric-id":1000793,"id":"Q1000793"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$F0630F0D-987A-4225-9A8D-B3C093853AEF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"70f7955b7c89e72d6507445e8bcc923fbb58cc4e","datavalue":{"value":{"entity-type":"item","numeric-id":3013958,"id":"Q3013958"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$3EBCB951-381B-433F-9F68-C263A885200D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c8fcf5cc5fa5e11cfdb0a1d7c682a7796db1dc63","datavalue":{"value":{"entity-type":"item","numeric-id":642642,"id":"Q642642"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$56B9E261-8CD1-47EE-ADA4-61353785A59C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3af492cff8311e1dc0d111f560ecf5df35f32a0c","datavalue":{"value":{"entity-type":"item","numeric-id":1433056,"id":"Q1433056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$EA980F5C-80B5-44C4-8DA5-0D60853DCD57","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4d3336f41b1830a116a88504c80a6703483ae09b","datavalue":{"value":{"entity-type":"item","numeric-id":5282284,"id":"Q5282284"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$58D98C72-FF94-457F-A791-20C122A8B60B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fade1b240242013c589ecd0f47ca2bd7f2912843","datavalue":{"value":{"entity-type":"item","numeric-id":5695577,"id":"Q5695577"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$4C91DD58-5320-4E1E-8B2F-7D34D8A772AB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bc24305c40b9f4c45307ac1b008414f506ec416b","datavalue":{"value":{"entity-type":"item","numeric-id":1902576,"id":"Q1902576"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$DA3F1BC4-67A8-4A84-A20D-4BE9F177B2DA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a367a54f0b9110b87bee0eef56d0ec13af82ef06","datavalue":{"value":{"entity-type":"item","numeric-id":4540386,"id":"Q4540386"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$2941183F-ED4F-42B0-9D21-563EAEC7CAD6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1d4e01ebf437904550ceb0ebcdfebe96bc0342b0","datavalue":{"value":{"entity-type":"item","numeric-id":4979001,"id":"Q4979001"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$FF861C4F-FCE9-4034-95DE-00C17144C944","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a6a6d9d4c005892aa7b849b3d059eda0ed03aaab","datavalue":{"value":{"entity-type":"item","numeric-id":1298283,"id":"Q1298283"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$A8A3F9D4-59DF-40BB-8E38-5B1371A41CA1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"92617c52c41d5934fc52e69a3f36de6915e7599c","datavalue":{"value":{"entity-type":"item","numeric-id":5274057,"id":"Q5274057"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$C6478D2C-8AA4-435D-AAFF-150EDFF4CF3F","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"09efdbcf6a17e3a38911dc28c6a181b573cf79a9","datavalue":{"value":"10.1002/OCA.2215","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3187840$323252BE-F718-4F28-B0D8-0BF9BF9890B5","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"b1e837aa73e761e8390992d747975f8b081c50ab","datavalue":{"value":{"entity-type":"item","numeric-id":6565686,"id":"Q6565686"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3187840$AFA776C6-FB90-4A46-9089-F9B6F9F6CE4E","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"26638ebf8d7a1921474f7284fb41668fadd7517a","datavalue":{"value":{"entity-type":"item","numeric-id":2097821,"id":"Q2097821"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c166ad8db4a127a192862eca6be1142c71082a19","datavalue":{"value":{"amount":"+0.8195498585700989","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":"Q3187840$BA38175F-5A2B-4CF6-B57E-48C98761CDF7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bcf81f24f2df8b14e1fc434edc2195251f5f0677","datavalue":{"value":{"entity-type":"item","numeric-id":2374501,"id":"Q2374501"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"302c77224b210e18117cfce2182b78a9e01a2e8f","datavalue":{"value":{"amount":"+0.812744140625","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3187840$EC7F06E7-A8BF-4070-8461-BAF19DEC27CC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3b85414c10f9855cb1cf1a9d9248d955afe08773","datavalue":{"value":{"entity-type":"item","numeric-id":5213914,"id":"Q5213914"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"460a7793766218e31a5754de818271e63e022e48","datavalue":{"value":{"amount":"+0.7971213459968567","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":"Q3187840$1A88ED93-3E97-47D7-A22E-4A8FCCB071F8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"036e89562b3008d70504821e81be6a9f3e8f70ee","datavalue":{"value":{"entity-type":"item","numeric-id":5198730,"id":"Q5198730"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c82d6a0137654fe20fb92885feae02a0158b35a0","datavalue":{"value":{"amount":"+0.788512647151947","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":"Q3187840$878BF372-42B9-41A1-816B-63F5F2166CEB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"de1b71e56ebd158f6e11803270110e487e7c30f1","datavalue":{"value":{"entity-type":"item","numeric-id":5198771,"id":"Q5198771"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4ebc69a6cf5994ad14105ca86c5aa3b0a4c3e583","datavalue":{"value":{"amount":"+0.7823115587234497","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":"Q3187840$0C2566AB-3449-4E2B-9D30-0D413FB0523F","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:3187840","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:3187840"}}}}}