{"entities":{"Q5194913":{"pageid":7224485,"ns":120,"title":"Item:Q5194913","lastrevid":94506854,"modified":"2026-06-05T06:59:41Z","type":"item","id":"Q5194913","labels":{"en":{"language":"en","value":"A constructive globally convergent adaptive speed observer for port-Hamiltonian mechanical systems with non-holonomic constraints"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7105871"}},"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":"Q5194913$4E877073-2054-4967-9FE2-553EF791C47E","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"05c0886a02a72aa3f998596db4b3a38178f38e76","datavalue":{"value":{"text":"A Constructive Globally Convergent Adaptive Speed Observer For Port\u2010Hamiltonian Mechanical Systems with Non\u2010Holonomic Constraints","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q5194913$25035606-B4C7-4773-97DC-400D72509E33","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"036928ff3d054413d3aea8ca3e94931eeaed4274","datavalue":{"value":"1422.93073","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5194913$42147368-F22F-46D7-A4DA-451C3025DFED","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"b84d5a65be88a084be6378fe75f01b3df830968f","datavalue":{"value":{"entity-type":"item","numeric-id":5194912,"id":"Q5194912"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$A966447A-EC8C-4F57-95C0-9798CD078E04","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"24ca09a9f9d528ed18a8c86bf253b7d7f10248df","datavalue":{"value":{"entity-type":"item","numeric-id":534938,"id":"Q534938"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$3D487540-9D18-4182-8746-756EBB00E383","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"4a339d38578f9ea3c4a810c6814ca082b0d20b6d","datavalue":{"value":{"entity-type":"item","numeric-id":2789888,"id":"Q2789888"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$5C5775A6-327D-4483-BA3E-948E8B74A8D6","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"860c75d427a5be90563ac8b1b9f2dee75426aaaa","datavalue":{"value":{"time":"+2019-09-17T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q5194913$D5A7CB0A-D2C7-4251-8F78-1360DE802878","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"931f9bc6fe69aba6508703df7e266476edb87eb8","datavalue":{"value":"93B51","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5194913$818AA526-16E1-44A4-A5C3-78B17C9564C1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5194913$D47E48EC-CADA-4633-9A6A-2168CFCD5FA5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"5a51013239e705dbb008583c85b92be535c924c0","datavalue":{"value":"93C20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5194913$2830C024-E7B2-49FC-BFB5-A51A7FB9EF64","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5194913$50526EF2-53B0-482C-9669-F9EF00E30FC2","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"1b693460c31ba23e953fa1aecabe06f066d2020e","datavalue":{"value":"7105871","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5194913$2D851A75-94F2-441B-A3CD-CAE30C73E6E3","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"62c42fc02864f0444aebd397e547453c038f6b49","datavalue":{"value":"adaptive observer","type":"string"},"datatype":"string"},"type":"statement","id":"Q5194913$A032B5AD-CF39-474E-9E13-17E39D088438","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9ef9eeaf25c5b02f56ee3cadb843040f63dd75b1","datavalue":{"value":"immersion and invariance","type":"string"},"datatype":"string"},"type":"statement","id":"Q5194913$263AE21F-734A-46E2-8CD1-1F03CBE0B63F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ff0b10967caf3ec858ae7a39f5bdb24ebde20b8d","datavalue":{"value":"mechanical system","type":"string"},"datatype":"string"},"type":"statement","id":"Q5194913$645776B9-6DBA-443C-91EF-C300906FA42D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c74e4552f1330f788c8dcff8a84790dab9055f06","datavalue":{"value":"unknown disturbances","type":"string"},"datatype":"string"},"type":"statement","id":"Q5194913$27EE639D-8BD8-4E21-B3B4-8331CC0346F2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b13486d202490b6155e47f247821817bc4c7c41d","datavalue":{"value":"friction forces","type":"string"},"datatype":"string"},"type":"statement","id":"Q5194913$577D95A7-4FED-4426-9D62-1D2CD358E3DE","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":"Q5194913$571E70A8-E079-4913-AC1F-E8F3386619EF","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"675044a384dc147dfc94bfa0e54aef29303cd6e9","datavalue":{"value":"https://doi.org/10.1002/asjc.1794","type":"string"},"datatype":"url"},"type":"statement","id":"Q5194913$80D338A7-C857-45AB-8131-103A41CDEC39","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"88ea90599b9a73abd1adaa94f3e37641888e7407","datavalue":{"value":"W2800736343","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5194913$EB7EF7DB-634E-408C-87C7-31CAAEC8C8D9","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"7c1607e963e508a58cdbd72a9ccd54ebf2db2032","datavalue":{"value":{"entity-type":"item","numeric-id":5202593,"id":"Q5202593"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$2BF0F0BE-AB80-40AC-970D-A681CB397A13","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b705bb19915e4124a21e974a7e02769bf9b6b0de","datavalue":{"value":{"entity-type":"item","numeric-id":985289,"id":"Q985289"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$41F8224B-F41D-4550-8EDB-6203ED2BB013","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"414c9af24b2f3d2d0b28b7c22eaf6ee98dc51e8b","datavalue":{"value":{"entity-type":"item","numeric-id":5353086,"id":"Q5353086"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$629FA618-EF9A-4C25-A77D-2196C9E866E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"35b5545db53e01f641b2a24ef4411ba94c91c851","datavalue":{"value":{"entity-type":"item","numeric-id":1290742,"id":"Q1290742"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$5879FC07-404E-49DB-8128-C68B347A3B79","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"759b1e78ef2acddb8f38b6b400771889f8022268","datavalue":{"value":{"entity-type":"item","numeric-id":2284719,"id":"Q2284719"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$5E2F5DFA-AF01-4429-A53E-87277B4B9601","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2d9bc0f3bafa623d76f59843955378bfeb5e5431","datavalue":{"value":{"entity-type":"item","numeric-id":1433075,"id":"Q1433075"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$E46CA92E-C67D-4337-B17B-A7C74D62769B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c632a41f1e39d0d84c8669d3fe836e9d646f6c49","datavalue":{"value":{"entity-type":"item","numeric-id":4681659,"id":"Q4681659"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$207FC920-FF38-4ED8-82B9-5F84CF818CBA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"52cebd4b52e762b27790ae71f4cef4ae0b9246f0","datavalue":{"value":{"entity-type":"item","numeric-id":5266816,"id":"Q5266816"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$E418B8A6-BB30-40BA-AFA1-554A7AEDFCDE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e1d9f72cdf060cbc7fc7b79e5044cf887a3759f4","datavalue":{"value":{"entity-type":"item","numeric-id":4974399,"id":"Q4974399"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$8B392705-AB6B-401E-8B25-24444D6CBA3A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e477ba2c9f1af8b906e7ea95f208b5e7bd3311c1","datavalue":{"value":{"entity-type":"item","numeric-id":5282193,"id":"Q5282193"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$E4CBE653-6612-4183-95D6-DD360AF20F60","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b5dc3297d44b5e78229b1f046393032790a3a6ca","datavalue":{"value":{"entity-type":"item","numeric-id":4312852,"id":"Q4312852"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$723DABA8-0CA1-4050-810B-C8BB17845E68","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d8cc77ecefe3a22adaad3ea41e3899f1a9857067","datavalue":{"value":{"entity-type":"item","numeric-id":4506831,"id":"Q4506831"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$DDD243BE-485C-4797-8798-F8E3F0E0D701","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0dd4eace7f0b4805ad5e219d2aae07e80b260888","datavalue":{"value":{"entity-type":"item","numeric-id":4460524,"id":"Q4460524"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$27B7DE91-700F-4E4F-9A12-5B61D414335E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b0382070cfb484a60684e14a8ab94f0d9b2bc704","datavalue":{"value":{"entity-type":"item","numeric-id":5274205,"id":"Q5274205"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$59852E84-FDD3-4008-9E1D-9C8D273AC395","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a65f28770d494276fe4840177fab10a88e7b8882","datavalue":{"value":{"entity-type":"item","numeric-id":5497451,"id":"Q5497451"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$4B424C03-D779-43EA-8B60-1DF68C3578D5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"174f4f6cb9c5e3252731646bfb324b6b7b07c10b","datavalue":{"value":{"entity-type":"item","numeric-id":2743218,"id":"Q2743218"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$189D2567-9CBB-43DC-B8F0-0C66B3BB9A6A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"260001d7142db2f43e78621a0cffe43fdc9437a8","datavalue":{"value":{"entity-type":"item","numeric-id":5926197,"id":"Q5926197"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$C22C93CC-47D8-4A0D-86BC-8EE5091DE3A6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"036da5512f50519313de7dca850a44dc134bf627","datavalue":{"value":{"entity-type":"item","numeric-id":4978801,"id":"Q4978801"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$F10C8F6A-3A91-4137-B0D8-16619AB589DB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"33b5540008889f9e38a4ccb30f3561763f63a43a","datavalue":{"value":{"entity-type":"item","numeric-id":4974405,"id":"Q4974405"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$B9FA506F-7704-4A31-B6C2-B4A7AF7A7B24","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"22c45b47ecb9bdf859e629688572908ecd6d1685","datavalue":{"value":{"entity-type":"item","numeric-id":5266880,"id":"Q5266880"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$BD072400-53D6-457B-AC94-EF24F7A42EAB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"535dbd8ccb796f20348c65dcf62f376144fbd977","datavalue":{"value":{"entity-type":"item","numeric-id":2814022,"id":"Q2814022"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$F4232CAE-5DB8-423B-992B-B6484E8FEC86","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"dc1ae8961382a6956e9084c76bffdd6a0a8e69b3","datavalue":{"value":{"entity-type":"item","numeric-id":5172948,"id":"Q5172948"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$7299517C-ED22-44AE-B720-495344C89795","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fa9bc272c8e114cad9db325731a7228e04b970a8","datavalue":{"value":{"entity-type":"item","numeric-id":2789902,"id":"Q2789902"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$B628F246-3247-4B3C-A1E6-02E93B56CE81","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"dfce1c38563e1f70a9135de8673546dd611e3eb4","datavalue":{"value":{"entity-type":"item","numeric-id":5266843,"id":"Q5266843"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$E5FDC89F-778B-4D34-A95D-D76B0ECA9E6B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4eccb3fced760c7170dd3b99f8b40075bb8a0309","datavalue":{"value":{"entity-type":"item","numeric-id":976231,"id":"Q976231"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$EF53E519-7CEC-49C6-8B43-0BE286469BD3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"58df912c0e3aeb1775b998017c502c5b21fa646d","datavalue":{"value":{"entity-type":"item","numeric-id":1390849,"id":"Q1390849"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$FEAC94E8-892C-41A1-8074-071BD16F6A97","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c85f582ddae7eab694667f66ae7015bd6d0a3e2b","datavalue":{"value":{"entity-type":"item","numeric-id":642628,"id":"Q642628"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$6E0895C2-0F70-4FC8-864D-3DD2B928C6CF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"89522b252f3fbbf00e28e275abc6aaf083402da2","datavalue":{"value":{"entity-type":"item","numeric-id":900182,"id":"Q900182"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$94934D98-AD1A-4CA5-B71A-0EAD9250310C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ed658e7231383b1c034b90db423146c582b12fbf","datavalue":{"value":{"entity-type":"item","numeric-id":3996565,"id":"Q3996565"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$EFD5B40C-AEAD-4072-A538-FAD8F347F9C3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5615f5de2885edf3a547a5bc0b860fb9a0c7b9f1","datavalue":{"value":{"entity-type":"item","numeric-id":3169192,"id":"Q3169192"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$560D13AF-4942-47A4-9DEB-BB9CD9CBB72F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2ef13abd18e184a3c79b10e2a68bf1dc5b716bce","datavalue":{"value":{"entity-type":"item","numeric-id":1195832,"id":"Q1195832"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5194913$321F64EC-43F4-40D3-9A36-FC62B0475B33","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"df2a7f6f888910c931d08a87cf2a3721b915b692","datavalue":{"value":"Q129979456","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5194913$1528001C-156D-4F11-9A35-E4A2A73D3E59","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"240648f8d6c007880e01d336d41088379e242c01","datavalue":{"value":"10.1002/ASJC.1794","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5194913$1E3A2D4C-1CD4-43F4-A5C9-4A164C19A77E","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a32b8b6d7405b6bfb13567596a9099a7dcc4c22e","datavalue":{"value":{"entity-type":"item","numeric-id":2665339,"id":"Q2665339"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f8f3f095eaf7a9e2a5148458a5cf4eef2187bc2b","datavalue":{"value":{"amount":"+0.8443782329559326","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5194913$D6B661C8-D586-40EE-B519-3B562FE6925C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f7daa94a00187e98741b52171601efadf799057f","datavalue":{"value":{"entity-type":"item","numeric-id":985289,"id":"Q985289"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"daec3322e66ec3f837bb8fa41ec0e6765794bbc4","datavalue":{"value":{"amount":"+0.8410714864730835","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":"Q5194913$B7F2EB85-0D0D-48D0-AC41-5235C800A571","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4a7b3a78719cd022b9be5103e9e2a5fc226b34fc","datavalue":{"value":{"entity-type":"item","numeric-id":900182,"id":"Q900182"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"981e6585e92e6af7911178e5212e5f715958c0de","datavalue":{"value":{"amount":"+0.8156271576881409","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5194913$F93923F2-8A52-468C-BCD4-A1B23EB834EE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d455577ee58c8e6fea08c22b83f41e61b055eedd","datavalue":{"value":{"entity-type":"item","numeric-id":5701380,"id":"Q5701380"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5b49abeab4fec20c59dcf09f9ef4c1b16cc280c7","datavalue":{"value":{"amount":"+0.7725846767425537","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":"Q5194913$C975AE0C-C2BC-40CD-90B6-BBF0A5A2B6BC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6276c5fa01025dd330d571eea07959a1b4d45132","datavalue":{"value":{"entity-type":"item","numeric-id":2795192,"id":"Q2795192"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2ade5f1a1660994857e2cf9eabe871b598a7168d","datavalue":{"value":{"amount":"+0.7633795142173767","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5194913$C21D95BB-5651-4C65-B558-8200F911A89A","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"A constructive globally convergent adaptive speed observer for port-Hamiltonian mechanical systems with non-holonomic constraints","badges":[]}}}}}