{"entities":{"Q5205476":{"pageid":7235047,"ns":120,"title":"Item:Q5205476","lastrevid":100456355,"modified":"2026-06-05T22:11:02Z","type":"item","id":"Q5205476","labels":{"en":{"language":"en","value":"Adaptive control design for MIMO switched nonlinear systems with full state constraints"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7142439"}},"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":"Q5205476$1F826B33-706B-4137-9C5C-A20EC12BC14D","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"45e1f482f11f3346078f11479bd10596784b27df","datavalue":{"value":{"text":"Adaptive control design for MIMO switched nonlinear systems with full state constraints","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q5205476$6DB1FFA9-92E0-471F-AC24-AF5CBB04DE08","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"092963665af552f0299c0e9fa424e8148a692f12","datavalue":{"value":"1429.93176","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5205476$4C25A515-CF7E-4CDC-9842-5F8A0304501D","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"f0c6e013124861bc09dc8f94516078cf3ba69133","datavalue":{"value":{"entity-type":"item","numeric-id":4687776,"id":"Q4687776"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$100CB317-97F2-426B-83CE-4E99E643645C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"0ef80489f18ec1e0adac5c64413550fdbdc51c62","datavalue":{"value":{"entity-type":"item","numeric-id":258968,"id":"Q258968"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$F131F65C-A5B8-48D0-92FD-85787915BA6C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6f908ee56e3930c8211428946facb254fe306a30","datavalue":{"value":{"entity-type":"item","numeric-id":437134,"id":"Q437134"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$C82D858A-DC98-4C75-AADD-A0C521F4EC7E","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"2b88f9f48ca2368cf07a2a6899216440a4f7b5cc","datavalue":{"value":{"entity-type":"item","numeric-id":90646,"id":"Q90646"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$55C2E306-C905-4C7F-8D3F-BA29CC322D85","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"bef9928ec9078c68c2933d242e4599e8cb078c8f","datavalue":{"value":{"time":"+2019-12-11T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q5205476$9BF39A69-B57E-444F-BA63-EBC27D7583F3","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5205476$EC2B1496-529E-430C-82C7-92E5DA2B9AFB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"ef1dcc0b33599e1092b462fd190cf5343d5086bc","datavalue":{"value":"93C35","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5205476$CED85691-E743-47A9-9164-9EC146290DAD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"bec664fc111c8c38f0715786ddaeb8636a48223c","datavalue":{"value":"93C30","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5205476$097C0258-B6EF-47A4-8C78-FEA2550D04E9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5205476$D9C23074-A5B3-4351-A859-7D307F3EA47D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"6645294f329205d6c74039207697939030eead29","datavalue":{"value":"93C42","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5205476$68B2B2E6-4126-4E79-8C9E-169C62797C1B","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"20021b33f57811f757c33151c9733df96fed9801","datavalue":{"value":"7142439","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5205476$D013A428-7041-4677-8325-F63740137284","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8e7dc0865c344a6e62af30ce8a893e732af34bd1","datavalue":{"value":"full state constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q5205476$0E1FDB76-3881-4CB2-BA19-6AC54F8933D0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"657e894eca763b7c2f1752661992df0d82e35cc2","datavalue":{"value":"fuzzy logic systems (FLSs)","type":"string"},"datatype":"string"},"type":"statement","id":"Q5205476$168574E8-B65E-4D8E-B74C-859666E7C695","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"53a030a7a195d38d22f660968c6d206fff5e5c82","datavalue":{"value":"multiple-input-multiple-output (MIMO)","type":"string"},"datatype":"string"},"type":"statement","id":"Q5205476$D90EA5EF-2282-496D-B271-0AD62739ECE4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c8f08d94ed7e2bdcd855f06f6d17a3525ec4cec0","datavalue":{"value":"switched systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q5205476$ACBF256B-FC14-477F-921C-A4BFA00F04C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0bdc2066bb2b282a80dcedf3ff4fe693440496b1","datavalue":{"value":"tangent barrier Lyapunov function (BLF-Tan)","type":"string"},"datatype":"string"},"type":"statement","id":"Q5205476$B81E1ACF-4FC1-447C-9484-DE01DC3C713F","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":"Q5205476$B56B7A13-721D-4B36-BA9B-E63E39D6DDAA","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"3295f6c4434f530948a972ecb33bcb20c9a14686","datavalue":{"value":"https://doi.org/10.1002/acs.3051","type":"string"},"datatype":"url"},"type":"statement","id":"Q5205476$C443D147-7AF2-4EA7-881F-0578C616A83A","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"79748ca78ca9b4ebb1d404a4799457e0dc5ff187","datavalue":{"value":"W2972635538","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5205476$4E033F7E-95B7-45BA-9E5B-FE72746FA07F","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"4cec60d775c33cbf790343c04e78cb04ca40521f","datavalue":{"value":{"entity-type":"item","numeric-id":437204,"id":"Q437204"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$533BB2BE-1E18-40BF-ACA5-F1A0F82792DA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"be71ae5c771a59ba228486289baa71672a3027fa","datavalue":{"value":{"entity-type":"item","numeric-id":646457,"id":"Q646457"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$59390C9B-09D4-41F9-BB00-951E497C60F4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e755404d6d6ded3a396185a1f46b48a77553ed55","datavalue":{"value":{"entity-type":"item","numeric-id":4614012,"id":"Q4614012"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$42B68635-8906-4B9E-95B4-A4C8AF403253","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8a644bf40869eedd8abaf068a4e2bf9d7d305231","datavalue":{"value":{"entity-type":"item","numeric-id":2418191,"id":"Q2418191"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$2B78756A-29BD-4C9F-A16A-4ECD12ADD4DB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ad6a9c2a92a6b68a8eaf0cc26191651cb94ed634","datavalue":{"value":{"entity-type":"item","numeric-id":780966,"id":"Q780966"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$9C61A382-E315-48C5-8D2C-471CDC4A484F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7e17207ee74f248596d69fadd8cf90672db1303d","datavalue":{"value":{"entity-type":"item","numeric-id":2282315,"id":"Q2282315"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$CEF42AF2-192A-4160-8D55-3ECA1102075C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0f7e989d9ea82a4623cb3de98f63af6a9b0d5dde","datavalue":{"value":{"entity-type":"item","numeric-id":335454,"id":"Q335454"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$8761C8DB-3834-41B7-844E-D90B1FE0554B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2a8476be47194eeb6551bb339b69a72aae984626","datavalue":{"value":{"entity-type":"item","numeric-id":4609900,"id":"Q4609900"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$6683D765-08A7-42F2-89E9-F07C74E1FA82","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e40b0932df1f11722dc0f14c4902806b9d5e4a9f","datavalue":{"value":{"entity-type":"item","numeric-id":705432,"id":"Q705432"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$54BA3DED-9DC7-4A94-8711-FABC9FDE58D3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1ad4d06d825f173442a3373e84834a93df52f4a4","datavalue":{"value":{"entity-type":"item","numeric-id":620591,"id":"Q620591"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$9127C2C2-A0D7-4C94-A675-70577596BF27","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"687909d647cbd6cf3d14b6836d7ef520021f5661","datavalue":{"value":{"entity-type":"item","numeric-id":5274194,"id":"Q5274194"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$A3F9A569-1B9D-4156-8D66-11E9838BCC90","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"08f2e10e85bcf867c64697a5b974ab03ee0363c2","datavalue":{"value":{"entity-type":"item","numeric-id":3550802,"id":"Q3550802"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$A082AAE2-73A0-40E1-8B0E-C6789F437D1D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"855bb150b906155ff9ea5fb68c264e5afe518156","datavalue":{"value":{"entity-type":"item","numeric-id":2342770,"id":"Q2342770"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$CEB1DBC6-E92C-47B3-B0EB-EBB0AE4C1EB1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ec2bfbf80c9ce4b1971dcd22c1f86abdaf9d7375","datavalue":{"value":{"entity-type":"item","numeric-id":900218,"id":"Q900218"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$8776B1AF-E3A3-4DE7-8094-35F1E6F6A751","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c644561e7a61c661db4847dc9744e0845fa6683e","datavalue":{"value":{"entity-type":"item","numeric-id":1004096,"id":"Q1004096"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$FADD2DF4-9803-4A44-B8FE-DF8426FEC6A1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c51a823434ac17107c6000be1f9059d139e5e001","datavalue":{"value":{"entity-type":"item","numeric-id":1037873,"id":"Q1037873"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$3861AD9A-5E04-4C0C-AEC1-5DFF34765492","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9732c9d8d9ee299c1f72649e6fb9ea5f1e392c04","datavalue":{"value":{"entity-type":"item","numeric-id":1023369,"id":"Q1023369"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$7848E431-B072-497F-B0B7-F983B8EA8BBE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"74b3007ebe425ef0a93eb02c5f642436e74f5b03","datavalue":{"value":{"entity-type":"item","numeric-id":2439155,"id":"Q2439155"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$610FC05A-6AF0-4657-B38B-585CBFE84624","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eef3cd69509fd703c5eba9fc4cee647a05cfd96b","datavalue":{"value":{"entity-type":"item","numeric-id":1721298,"id":"Q1721298"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$8FD7BF05-634A-4A86-A86E-F0053B9F0954","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2fb2267e72449c1a198007e8dd8678039b983734","datavalue":{"value":{"entity-type":"item","numeric-id":4569549,"id":"Q4569549"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$928E0CEE-AE3F-4733-AEDE-7CBB0340A2EF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c170d269e11ee267b510ba0504b49af4d4e99803","datavalue":{"value":{"entity-type":"item","numeric-id":679818,"id":"Q679818"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$9A872AF2-A0C3-4570-A7C3-3693B0DD6EAE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"340ede10fba128bff5fe470fda7d889f8032d6f2","datavalue":{"value":{"entity-type":"item","numeric-id":2407191,"id":"Q2407191"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$54C6B560-E505-400F-BC36-E905307354BC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fa8a2cb5e9bcd1f6960b0a827aed9ea84ba3022a","datavalue":{"value":{"entity-type":"item","numeric-id":422406,"id":"Q422406"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$B2BB0623-D2D1-4BD2-81BD-4F4B26D33F47","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a028891a519ec86acd51fdec92bb4620dc780f03","datavalue":{"value":{"entity-type":"item","numeric-id":2628690,"id":"Q2628690"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5205476$689FEA50-CF2E-4887-895A-3231ECA8E8BE","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"014feae9a0e8dd9343e030f5e120209041bad2c8","datavalue":{"value":"10.1002/ACS.3051","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5205476$42C7ECE0-49C2-47EB-B8F0-1625D40FA6CC","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6cd82c6b4002b0cce23b0cdc1a77698db4215dcb","datavalue":{"value":{"entity-type":"item","numeric-id":308260,"id":"Q308260"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"57623ab82c837689b9bf0eaf7684202bec68d52b","datavalue":{"value":{"amount":"+0.8744167685508728","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":"Q5205476$8770B4C1-C9B9-407E-B6DA-75733BCAF38A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6ef3b0704cd7201975aebf729b227ae950f95bf2","datavalue":{"value":{"entity-type":"item","numeric-id":2013765,"id":"Q2013765"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"97304622a17c1385f18efdcd523eed2aee5b5f9f","datavalue":{"value":{"amount":"+0.8696139454841614","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":"Q5205476$74326325-2BFC-4E15-91C3-ED40DD6DE948","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"241f84e40919db31aefe4a67afc8217288edde07","datavalue":{"value":{"entity-type":"item","numeric-id":5073334,"id":"Q5073334"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"002828de74cb055246cbfe0aa2967457c7139485","datavalue":{"value":{"amount":"+0.8562102317810059","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":"Q5205476$48E7621F-61EF-4894-9E54-D1EF92C521DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0353d8dd0d0e5c8571af8a74f7795b8da04d8612","datavalue":{"value":{"entity-type":"item","numeric-id":679818,"id":"Q679818"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"66c2d9fac7e344df3e7c872d7b2e8ec9fa052fa9","datavalue":{"value":{"amount":"+0.8444511890411377","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":"Q5205476$3D127BE3-5564-4B5C-9FB4-7008DBA80A8D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c7cff678eb9b2081547eeec2f91b88b322110f00","datavalue":{"value":{"entity-type":"item","numeric-id":5027870,"id":"Q5027870"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e14fdd904db4df6b47350d9cfabfce68740abe2f","datavalue":{"value":{"amount":"+0.8425590991973877","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":"Q5205476$60111830-3AB2-4510-8537-BD26E7EFF7C4","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Adaptive control design for MIMO switched nonlinear systems with full state constraints","badges":[]}}}}}