{"entities":{"Q955934":{"pageid":957782,"ns":120,"title":"Item:Q955934","lastrevid":50506451,"modified":"2026-01-14T05:51:24Z","type":"item","id":"Q955934","labels":{"en":{"language":"en","value":"Suboptimal regulation of a class of bilinear interconnected systems with finite-time sliding planning horizons"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5372465"}},"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":"Q955934$942F473E-CC17-47B6-AC68-70FE54D0B287","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"79923667fcd638ed4a908832715232dfa05416b2","datavalue":{"value":{"text":"Suboptimal regulation of a class of bilinear interconnected systems with finite-time sliding planning horizons","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q955934$2D5A20AF-E9C5-48ED-9230-81CB2776BCB0","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"67e115bf8d0020b79205010297406f85f33ad689","datavalue":{"value":"1151.93024","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q955934$4FD1B4D7-A4F2-4762-BEDD-622DC32EA17D","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"799238b4f474a850b4e621f71af437750643907b","datavalue":{"value":"10.1155/2008/817063","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q955934$5E5EE228-1911-4B86-9CF8-FEDAACCA83BC","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"8a9aefcef4ddec1b9527f7074275fea36f1d018f","datavalue":{"value":{"entity-type":"item","numeric-id":397308,"id":"Q397308"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$9C106F05-F98F-4E5D-8A1F-B39DBBB665FC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"5a246e4c308c753dd1c7cc254e3237a8280e38fc","datavalue":{"value":{"entity-type":"item","numeric-id":443027,"id":"Q443027"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$EF4C5E5B-EFFA-4541-A2A9-1D63EA24A819","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"46d38f947c315e058972d92c8f0af9401e19257e","datavalue":{"value":{"entity-type":"item","numeric-id":324410,"id":"Q324410"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$3594DA13-ADFB-445D-808B-FB43E4DA9F6A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"c3632c44deab83a0f39db1d72fe8658676c80028","datavalue":{"value":{"entity-type":"item","numeric-id":397307,"id":"Q397307"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$385A3649-5209-41DD-95E5-176760FFB532","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d7e52181c403d83105f6ab8c4e82dd3658f31db8","datavalue":{"value":{"entity-type":"item","numeric-id":706539,"id":"Q706539"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$E8A23C82-5A4F-496D-AD95-AFB3F9F7A496","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$9D84EAC2-2EA2-4E77-B7D4-3CDE00F65FF3","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"194c710085788a257e857094b6592ccaf90316e7","datavalue":{"value":{"time":"+2008-11-24T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q955934$78EA198E-ED85-40F0-8BEA-7F3CD7F81A3B","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"c3a356361f266c6448d20659796f45d9d342ed92","datavalue":{"value":"https://eudml.org/doc/54843","type":"string"},"datatype":"url"},"type":"statement","id":"Q955934$838C5F6A-589A-4646-9598-56F78730BB00","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"ae59ec31080cd3deeb51eccae05969513b01737f","datavalue":{"value":"Summary: This paper focuses on the suboptimization of a class of multivariable discrete-time bilinear systems consisting of interconnected bilinear subsystems with respect to a linear quadratic optimal regulation criterion which involves the use of state weighting terms only. Conditions which ensure the controllability of the overall system are given as a previous requirement for optimization. Three transformations of variables are made on the system equations in order to implement the scheme on an equivalent linear system. This leads to an equivalent representation of the used quadratic performance index that involves the appearance of quadratic weighting terms related to both transformed input and state variables. In this way, a Riccati-matrix sequence, allowing the synthesis of a standard feedback control law, is obtained. Finally, the proposed control scheme is tested on realistic examples.","type":"string"},"datatype":"string"},"type":"statement","id":"Q955934$7D0559C8-E143-4346-9346-0B091CBBA199","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"39a0025ac480893a6c3723330b06364463bbd01f","datavalue":{"value":"93C55","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q955934$8F1E3263-8F9C-4FD0-BBF7-E0C3DE214063","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"ef1dcc0b33599e1092b462fd190cf5343d5086bc","datavalue":{"value":"93C35","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q955934$0E159A4A-B51E-4B05-AB80-32D39BA6BC91","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"484eaf08775232cffaa1ce81f75027f82e88b5db","datavalue":{"value":"93B05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q955934$2BB51AF6-4CB1-4407-8E1D-A096A93EAC5A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0ba2842931f306df7115450868bb0fb7d07d2a0c","datavalue":{"value":"93B17","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q955934$8FC0F0AF-CAC4-4E3B-B581-4828BB8522FD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"d6c670ac731a27c7bfd90316f3e999219e79aab5","datavalue":{"value":"93B50","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q955934$CD38F90B-9C1E-4452-8F96-1EB20B068816","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"dc49ca2a4a2f0b11d3fc0e60ef724c56b18b76e3","datavalue":{"value":"5372465","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q955934$5932FC50-D580-491B-B7D3-31FF48A278EB","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c9e2407ad470eed282fd6354f3d7b3bc3ddf7aa3","datavalue":{"value":"multivariable discrete-time bilinear systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q955934$A67606DA-12FA-4DDA-B436-9071E0E98950","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"cac1ad4e215e4027aea55aa1c9f1f9b4d86d0278","datavalue":{"value":"linear quadratic optimal regulation","type":"string"},"datatype":"string"},"type":"statement","id":"Q955934$65CCC568-AD81-446A-BCFD-B85A6BB693C8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"82e5295fa967420db17bb05d1fd567ce5a7917b7","datavalue":{"value":"controllability","type":"string"},"datatype":"string"},"type":"statement","id":"Q955934$51A8D0DA-4D0D-460E-9477-9C1957CC573A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b40b38ea4e8cdd847e9d8df37409bece91b85ce1","datavalue":{"value":"equivalent linear system","type":"string"},"datatype":"string"},"type":"statement","id":"Q955934$8DB0E3A8-A1B2-4D82-B31D-6E2E36C2C10C","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"b611d6270d53e73e2b5e4bc164d50317bfdcf587","datavalue":{"value":"Q57675400","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q955934$58BCF78F-D05B-4735-BB13-C6B638E42026","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":"Q955934$4C5CB0D5-CEC4-4354-B60B-632E240A6B5F","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"64c6f387dd667d04fe2232a818a8efde0e44b1ba","datavalue":{"value":"W1994069903","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q955934$E6ACAA00-D4C7-4A4D-94EC-BE0814E78981","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"bdcec3aa577be6241f140025b8aab16a7c6c6f03","datavalue":{"value":{"entity-type":"item","numeric-id":4084284,"id":"Q4084284"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$E8B93903-0DF5-45FD-87D0-7B19137E1297","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b449ceed14693665409b18ae774d009b261e7ca7","datavalue":{"value":{"entity-type":"item","numeric-id":5653864,"id":"Q5653864"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$C5A0B73D-7035-4B93-9251-3133FD2B610C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3e8e4ed60224e35f172e9c355fc6766fcdab26c5","datavalue":{"value":{"entity-type":"item","numeric-id":4678218,"id":"Q4678218"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$2CA15D6B-2890-4084-9C4D-81C4CC43D28D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2762c77f7891a173d3c2f0ce55bf03fc20fc3ea4","datavalue":{"value":{"entity-type":"item","numeric-id":4810937,"id":"Q4810937"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$61ECE583-5F67-4C18-BFB3-C93D05A79164","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"660900d64257730c3e1e307eb2bdb4459156b8ac","datavalue":{"value":{"entity-type":"item","numeric-id":5285227,"id":"Q5285227"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$053B94DE-4582-4672-BFF1-BE8C610C1601","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"04933f7ad4f7aeafa8d679bc51e4dd68db7fcfcd","datavalue":{"value":{"entity-type":"item","numeric-id":1765825,"id":"Q1765825"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$7BEE4CBE-41E0-4F0B-A3F6-082CBAE42116","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f9dc003d6d6275feb50e4fa3651653073a27fef4","datavalue":{"value":{"entity-type":"item","numeric-id":2561186,"id":"Q2561186"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$B1B0DBA0-884B-46B6-A96B-C72E74820D12","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"df93fb7eb8e5c13815e96de96784aa073a7726e1","datavalue":{"value":{"entity-type":"item","numeric-id":5682185,"id":"Q5682185"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$B49D23B9-8473-45E2-8887-D44173F057D3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"997fde0f6e43dc56612846146bab21b5125b7485","datavalue":{"value":{"entity-type":"item","numeric-id":5181606,"id":"Q5181606"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$393D1261-1A1E-45D2-8778-DDF3B953825F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f65405f25d57f4c5e7bd3936220e9902bdfa0bc1","datavalue":{"value":{"entity-type":"item","numeric-id":4117709,"id":"Q4117709"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$74BF003B-B127-4693-A7F8-18D4657A8679","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ef94ac252cf8c1183c1c63063eb9e79245d53998","datavalue":{"value":{"entity-type":"item","numeric-id":3892132,"id":"Q3892132"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$72472A56-FAF8-4F87-8B7B-155E9D4E22B7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"023e9153c8c39b12da0e6b72eae694f2e7403355","datavalue":{"value":{"entity-type":"item","numeric-id":3892158,"id":"Q3892158"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$F2533047-C0D5-4D43-8BEC-CA491C58459B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"788e936325cf5f71f61d87dce4b8514b65bffc1a","datavalue":{"value":{"entity-type":"item","numeric-id":3789437,"id":"Q3789437"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$1754F6C2-4BDB-4326-BF51-A828BE2EB659","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9c033967ac0ab32d19fc9d0e8048805342c2a32b","datavalue":{"value":{"entity-type":"item","numeric-id":3924008,"id":"Q3924008"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$323C7D63-F69C-4B08-84B1-F3BAE6AD7A38","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"201439541968e1a6e13b386caf537a6d058d98d9","datavalue":{"value":{"entity-type":"item","numeric-id":1305765,"id":"Q1305765"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$244E2C05-06DF-4BE2-8ABE-9364CF0AF359","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5ef237ab45f83b62b935db12de204423474516b5","datavalue":{"value":{"entity-type":"item","numeric-id":3926410,"id":"Q3926410"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$8A322D03-AD60-417A-B0F9-54F80A9940C9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8f2ab68cf04b8a6963bc7247c1810a79e76eee51","datavalue":{"value":{"entity-type":"item","numeric-id":5266732,"id":"Q5266732"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$4B64986F-2911-4845-8C1C-55E75936124D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"19583aa08f49d102a06d80e0f7c4f5e3e24dee5d","datavalue":{"value":{"entity-type":"item","numeric-id":1348952,"id":"Q1348952"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$2B6EC52C-F005-4750-AE23-05493014EB4F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"11251553093ea14b5484d2467afdce337dc38bb3","datavalue":{"value":{"entity-type":"item","numeric-id":5950250,"id":"Q5950250"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$A011FA50-DD62-4AD4-9DA2-D5079E5E668B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"027ec1717fc65e2038e45348149edf2a1782a0d0","datavalue":{"value":{"entity-type":"item","numeric-id":4116323,"id":"Q4116323"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$C2347BF8-3275-4361-9968-3F5B4750B400","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3195264df867cd8247f726b54c6c411a7be879c2","datavalue":{"value":{"entity-type":"item","numeric-id":3902876,"id":"Q3902876"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$533B8E81-5D9E-47E1-B6E2-CEE72646B0BF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ce30f0928b410d4c4deb9350c790ba89ee59d4ea","datavalue":{"value":{"entity-type":"item","numeric-id":4469668,"id":"Q4469668"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$7A4DB053-E1F3-4149-9873-35EDF08CDC07","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"059281ed1b7a6fcd2d1f2605d31141653348cf82","datavalue":{"value":{"entity-type":"item","numeric-id":3151630,"id":"Q3151630"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q955934$585A5330-A406-411A-B8EE-771210016F1B","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9f0d358363ce01f11d8ca57dd77dd75e621e6f54","datavalue":{"value":{"entity-type":"item","numeric-id":753747,"id":"Q753747"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9cfdf96fed5d9930519f0a2a2942b1aaf05e2401","datavalue":{"value":{"amount":"+0.9914329648017884","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":"Q955934$171B926F-8534-4254-8B90-4E58F4439AD5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"01c4caba734cfb016f895488375ba29c87b413d8","datavalue":{"value":{"entity-type":"item","numeric-id":3141759,"id":"Q3141759"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ece4a5ae960018ef4a76011f10ed06255fd3d32c","datavalue":{"value":{"amount":"+0.7886546850204468","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q955934$D7356052-A59C-44C5-9791-64C5F7EEBD33","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"729cc347aa3acc00f2ba11052608b4520d7f9aec","datavalue":{"value":{"entity-type":"item","numeric-id":3611335,"id":"Q3611335"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7b58c3ee7a86d058851b24d6b5695c26489c8567","datavalue":{"value":{"amount":"+0.7853312492370605","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":"Q955934$DF67FBC8-4C51-45EE-8D70-E4EFD9FF0A27","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a70c59b573d176a5245001308a11312b73981ed8","datavalue":{"value":{"entity-type":"item","numeric-id":1893308,"id":"Q1893308"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e74078d7c04e7a0b2f9f2dfae0f43c7f2b6fccd6","datavalue":{"value":{"amount":"+0.7845706343650818","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":"Q955934$846EE778-C5E0-45BD-89B6-D6526910F3F2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"83316e0b1750b6a6fba98a3f1b2d189fe1dbc1c1","datavalue":{"value":{"entity-type":"item","numeric-id":1314792,"id":"Q1314792"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f514c756c3270a14b71b1a6f9d2773f8ca56b229","datavalue":{"value":{"amount":"+0.78347247838974","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":"Q955934$8E387CB6-C947-4023-98EA-95C300089A6E","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:955934","badges":[]}}}}}