{"entities":{"Q510104":{"pageid":511871,"ns":120,"title":"Item:Q510104","lastrevid":62376990,"modified":"2026-04-11T05:40:17Z","type":"item","id":"Q510104","labels":{"en":{"language":"en","value":"Simultaneous nonlinear model predictive control and state estimation"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6685179"}},"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":"Q510104$CE0C4BA3-C16D-4368-A34F-A14A25859561","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"1e79e36a2ff5da326fd45a21bb8aecbbdec3d5d3","datavalue":{"value":{"text":"Simultaneous nonlinear model predictive control and state estimation","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q510104$A64D3E25-23FD-4D25-BCC5-72A285DABB8E","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"3fff5575de34192e897309c249d025a476a745f1","datavalue":{"value":"1355.93066","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q510104$306EF813-E864-4ABA-83D1-DFBF21DD7BE2","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"bc10d206def16e5e81403d393f8e1a45bc02b5c6","datavalue":{"value":{"entity-type":"item","numeric-id":510103,"id":"Q510103"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$55A09560-B9F6-4856-BC6E-7565DAEE1AF0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"05fee6cd848d9eb037d31977c224997e354c21bf","datavalue":{"value":{"entity-type":"item","numeric-id":473303,"id":"Q473303"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$2F667B4B-91E7-418B-91EA-68B0CFC77303","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":"Q510104$9569B50B-C900-45E0-A27F-A2C67FABFB89","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"4e3708f434dccc21359d2c42e6934f9dd6630037","datavalue":{"value":{"time":"+2017-02-16T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q510104$34C66A19-5D98-4973-8B07-D3991D6CA229","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"10e7ae4f3272e1b3be03ffc40fe137c122ddd99d","datavalue":{"value":"93B40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q510104$A850B785-6F88-4B65-85D3-DB17BDEA8D8C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q510104$D87D2923-12CB-4307-9662-E736A031D9EA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"39a0025ac480893a6c3723330b06364463bbd01f","datavalue":{"value":"93C55","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q510104$22062B78-CF11-4346-966E-A808F6C33ADD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q510104$384AFC47-740F-491C-B3AE-C4264B10FFA6","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"e4b0fdf63dae7c128f6e84a737bb48b71a337c12","datavalue":{"value":"6685179","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q510104$AA7C8257-B9EE-4247-BD2E-D473AB37876E","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a676eed2045b791f06a3babf3451a28a80e8b312","datavalue":{"value":"model predictive control","type":"string"},"datatype":"string"},"type":"statement","id":"Q510104$632EFEEB-47F3-4CD2-85E0-5F285FD74AA6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6e7602bd7d3411dd352d301c10e7608dbf8a3a5d","datavalue":{"value":"output feedback control","type":"string"},"datatype":"string"},"type":"statement","id":"Q510104$07F7FD59-B2A9-4129-B9B3-A1EA5CDF69EE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"dd8e13a28470296b261d85f90271d0f40a2ef540","datavalue":{"value":"control of constrained systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q510104$32724B23-703D-4FEF-8E70-F95557D0E12D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f47fee90c5592664decba5aa2e51ae852ecd7730","datavalue":{"value":"optimal control","type":"string"},"datatype":"string"},"type":"statement","id":"Q510104$0E054529-DE91-4933-95FF-6A0AFF87296D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fce231d1baf9b1e557341332b622cc6630f8c9f1","datavalue":{"value":"optimal estimation","type":"string"},"datatype":"string"},"type":"statement","id":"Q510104$F71309EE-8DA6-404F-85CD-AB611E39BE2F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"617f1c2c602599deb86fb840c6e4c77c75daa70b","datavalue":{"value":"algorithms and software","type":"string"},"datatype":"string"},"type":"statement","id":"Q510104$5561EAAC-9018-478C-AABC-EB1E52AF8DB1","rank":"normal"}],"P1463":[{"mainsnak":{"snaktype":"value","property":"P1463","hash":"aa3461f68e273db68fe6096c2506328daadd9474","datavalue":{"value":{"entity-type":"item","numeric-id":19754,"id":"Q19754"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$BEA49C4A-E291-4C83-85B1-5DEA69DF9FB6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1463","hash":"df8a27ea1bbdc0ab40b1d9f2af07756d8b56ce57","datavalue":{"value":{"entity-type":"item","numeric-id":16500,"id":"Q16500"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$F06B7647-87FD-4B58-B7EB-1BEB8F662BE5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1463","hash":"977414fba445c301147220c73d397d08bea18731","datavalue":{"value":{"entity-type":"item","numeric-id":38723,"id":"Q38723"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$381823B0-2F4E-4016-B997-6E05D57A8749","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$F4C59386-3A9C-4617-97E1-E659C48CF099","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"a1b8aad746c865c4e972f84a2f92cc638fa821a5","datavalue":{"value":"https://doi.org/10.1016/j.automatica.2016.11.041","type":"string"},"datatype":"url"},"type":"statement","id":"Q510104$22D18979-A7B9-4B6F-9F15-555494DEC7F0","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"eaec2b6889601987df4a7f2df4c343ff8e5ed23d","datavalue":{"value":"W2578927519","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q510104$DEE25F77-FB3A-4CA8-AFE9-A8554E004747","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"6e2bde0c87358580f0e019d3c06c874d86e39c40","datavalue":{"value":{"entity-type":"item","numeric-id":958266,"id":"Q958266"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$DD8DEDB5-9CEA-4BEE-A266-093D90CD621A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"938d0e3bf049ce257393790c3f20163cd610cd37","datavalue":{"value":{"entity-type":"item","numeric-id":4317892,"id":"Q4317892"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$6B20F4EA-696F-4AF8-A3BA-0F0B0D4E46B3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"94982b33bb37f30885cf3c9e5b77bffa790860c4","datavalue":{"value":{"entity-type":"item","numeric-id":5266741,"id":"Q5266741"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$F2EC73A6-E74F-4734-910C-354E6B0D1385","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"04fac0f2ab2d031a427d668c7048fa8b0093a1db","datavalue":{"value":{"entity-type":"item","numeric-id":4263638,"id":"Q4263638"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$2D36CE52-80F1-44DF-AAB2-6C58031FB10B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cc4e2ee4e2f87927fdeffe46500cf7d5b8bf5d95","datavalue":{"value":{"entity-type":"item","numeric-id":3655529,"id":"Q3655529"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$B02414A5-9B96-449A-AF75-A134DE340373","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2e4162be4c373e9cf961462786076d2f647483e9","datavalue":{"value":{"entity-type":"item","numeric-id":4952756,"id":"Q4952756"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$08CF7605-C506-4F61-AF2A-058CFD7C6D4B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d8f51123d4849920c0bd477136f67ae685bea6fb","datavalue":{"value":{"entity-type":"item","numeric-id":4821526,"id":"Q4821526"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$CD63793D-6DFA-460E-B7C5-C1CD7527258B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3000b6e87111ae632ad2c1c2eb53182b6f27c5dd","datavalue":{"value":{"entity-type":"item","numeric-id":2386501,"id":"Q2386501"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$0A25F26B-8D63-4A31-8F20-D7031D8739D9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2634f2212df74997b800dfaabf7bddd96f55fc79","datavalue":{"value":{"entity-type":"item","numeric-id":5273959,"id":"Q5273959"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$E16BF671-7D7A-46FC-8578-805B09EEC45E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ee01d4064ac43d8e876ce35ac781a141d0ec320d","datavalue":{"value":{"entity-type":"item","numeric-id":3589804,"id":"Q3589804"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$EBB72F16-8023-4652-86DD-376D195F0BFE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a282b96587d6bdb72f6bab2cecbb1bf7e6dd93de","datavalue":{"value":{"entity-type":"item","numeric-id":2512280,"id":"Q2512280"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$0456A359-03D4-4560-8B36-B6D308A22243","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"398c0263e1c4a5e282f44c5cc4359bde999b6ff4","datavalue":{"value":{"entity-type":"item","numeric-id":3054001,"id":"Q3054001"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$B4ABADF9-C800-4D6D-8FD2-676D849CEFBB","rank":"normal"},{"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":"Q510104$6647E7A2-C226-4111-A9AB-DDAA5DE6CC01","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e7663f078db4dad7958df45b9329ab1c141c04c5","datavalue":{"value":{"entity-type":"item","numeric-id":2465780,"id":"Q2465780"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$530F2C74-7CCB-42F2-BDAB-E6C4DAAF7AC5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f3b4b05df23e0f4cd8612f2903c0e01fec8c582d","datavalue":{"value":{"entity-type":"item","numeric-id":1360453,"id":"Q1360453"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$01B1897F-6A2F-4491-A425-7DC531C55D4A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6a3879cd8a1ba3ff04c8f55b087ecad742111866","datavalue":{"value":{"entity-type":"item","numeric-id":1603799,"id":"Q1603799"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$FC924CD3-B79B-46E2-8009-74699EC4DED9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eeca47643610f107e8f155f60f785e4721dc2f26","datavalue":{"value":{"entity-type":"item","numeric-id":3589767,"id":"Q3589767"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$4CA933B3-03C9-4976-B128-B9F809EED455","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6ff016272b41b878fe70ad63d7a588cae08731ac","datavalue":{"value":{"entity-type":"item","numeric-id":4804822,"id":"Q4804822"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$939A74A3-862D-4ED6-8E35-FF2B70D5BC05","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"efae26261621372612a36790064c6c9c3c19e224","datavalue":{"value":{"entity-type":"item","numeric-id":2342418,"id":"Q2342418"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$E1EE6996-D62A-452D-9F2F-670E84F60E7A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7ad2588f6e3f57b90fd7835849960945be01244e","datavalue":{"value":{"entity-type":"item","numeric-id":856552,"id":"Q856552"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$7C208429-7473-4F24-8925-7FFD76D76FC4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0f7abadcc014ae405c11bdfa12d6a8d0338cd57e","datavalue":{"value":{"entity-type":"item","numeric-id":1036678,"id":"Q1036678"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$7A0C5045-09C1-49CB-8444-2C6DE6A5AE2A","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":"Q510104$3C4AF5A0-7F7C-49CB-A6DB-D6F617DA8C20","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"06bd5fc023a3d7d5861429fa8e4961481f8313d7","datavalue":{"value":{"entity-type":"item","numeric-id":4849696,"id":"Q4849696"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$A242F6F3-3808-48D3-BA68-5179E15A8F36","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"26326e073d237d1367f6395961ef16c6be974888","datavalue":{"value":{"entity-type":"item","numeric-id":128676,"id":"Q128676"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$FC36F2AE-C3EE-4C50-8535-982F916E0D46","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ce5e4a9c02c3ae265a4f7f4d59b45ee3c94ffb06","datavalue":{"value":{"entity-type":"item","numeric-id":468278,"id":"Q468278"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$B4CF74A8-56E1-4BDA-8ADE-A46C862BC9DC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f28e8935adc450f985e66cd63072fb5eda643dc2","datavalue":{"value":{"entity-type":"item","numeric-id":5947633,"id":"Q5947633"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$D2BFFF3B-2205-42AA-ACF4-31EDE2A81695","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9d72208c213d6ca51b8fb10910fad045eaa4be94","datavalue":{"value":{"entity-type":"item","numeric-id":5266935,"id":"Q5266935"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$55115E76-C126-45F0-8C79-BA4435E50FD0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a2b76623f329077710499b41d9eda97925d3075a","datavalue":{"value":{"entity-type":"item","numeric-id":1969532,"id":"Q1969532"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$9E5E855C-A2C2-48FB-BDDF-F1BEBDC24BB6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ab519ac7194f70b8efeaa629a2f5197a17e18611","datavalue":{"value":{"entity-type":"item","numeric-id":4506538,"id":"Q4506538"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$C98D67DC-158D-4CF0-8BCA-C2A2B7992DEB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a0609a0263bd34c14d479a3bf082d99cdac4278c","datavalue":{"value":{"entity-type":"item","numeric-id":5906331,"id":"Q5906331"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$9521C940-A2D6-4D96-8228-65917B0F7366","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"474b7e5c0d8cf5a9b274bd233be63067711b4aad","datavalue":{"value":{"entity-type":"item","numeric-id":5691079,"id":"Q5691079"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q510104$FCF9FB68-357C-4809-B013-CB48D6F59E25","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"bfe64fa113fcfb11e72e1da73395f60a5e1002fb","datavalue":{"value":"10.1016/J.AUTOMATICA.2016.11.041","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q510104$12B56DC1-30B0-43C0-B3FE-167589DE849A","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"19f583af227d6b3fa58fbabd1ae0d254d5f97a1c","datavalue":{"value":{"entity-type":"item","numeric-id":2512280,"id":"Q2512280"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"efa6f675eabea9db37214e9d8f67ec6320607e42","datavalue":{"value":{"amount":"+0.7995499968528748","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":"Q510104$76E2FAD0-B0CF-49E3-BA35-091F9A57A1D7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fb52c294c7195f0f13b6c75c6f9a22c5e48e1af9","datavalue":{"value":{"entity-type":"item","numeric-id":360671,"id":"Q360671"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c58ec009b455b357af06564614303b193add465e","datavalue":{"value":{"amount":"+0.7854055166244507","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":"Q510104$8C648BA6-EB6C-4AE0-AD3E-005255EF754A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f40617e98338771da8073fa9331b984467f9e509","datavalue":{"value":{"entity-type":"item","numeric-id":4543958,"id":"Q4543958"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c7290bc05604462d7635b5fb908c2d9351d1d4c0","datavalue":{"value":{"amount":"+0.7833176255226135","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q510104$FC54A8D1-12D9-42F0-B762-667E2758C890","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"81e507d0418d71f082c99972f8e1fb51b71ab719","datavalue":{"value":{"entity-type":"item","numeric-id":2454170,"id":"Q2454170"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"eb1024bddc6bd3264b6fdf7f36950ae0d1ee8dcc","datavalue":{"value":{"amount":"+0.7777568101882935","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":"Q510104$D8C08593-0E31-434E-A63F-0196BC8A9D78","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7fc8dac21d5756c9f534908d9247f0d9583d2968","datavalue":{"value":{"entity-type":"item","numeric-id":3151640,"id":"Q3151640"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"019a0983f7c951a09a708092ddec9350ea0abe16","datavalue":{"value":{"amount":"+0.7752570509910583","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":"Q510104$82123504-114D-4880-B132-6C7F00678D40","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Simultaneous nonlinear model predictive control and state estimation","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Simultaneous_nonlinear_model_predictive_control_and_state_estimation"}}}}}