{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2013:2CXH7BLG7UGOKTZQVZ7JF7DI6V","short_pith_number":"pith:2CXH7BLG","schema_version":"1.0","canonical_sha256":"d0ae7f8566fd0ce54f30ae7e92fc68f576c29b765bacaf96e248a89ccc27cfd0","source":{"kind":"arxiv","id":"1301.4285","version":2},"attestation_state":"computed","paper":{"title":"On the Method of Interconnection and Damping Assignment Passivity-Based Control for the Stabilization of Mechanical Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Dong Eui Chang","submitted_at":"2013-01-18T01:47:54Z","abstract_excerpt":"Interconnection and damping assignment passivity-based control (IDA-PBC) is an excellent method to stabilize mechanical systems in the Hamiltonian formalism. In this paper, several improvements are made on the IDA-PBC method. The skew-symmetric interconnection submatrix in the conventional form of IDA-PBC is shown to have some redundancy for systems with the number of degrees of freedom greater than two, containing unnecessary components that do not contribute to the dynamics. To completely remove this redundancy, the use of quadratic gyroscopic forces is proposed in place of the skew-symmetri"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1301.4285","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-01-18T01:47:54Z","cross_cats_sorted":[],"title_canon_sha256":"5d881e365ca53427f51b12e4b726da91292471d56510f3521e9b8a7710b562c5","abstract_canon_sha256":"662ba69b3624cbc597ebdfcc477caf99e06953dc052ddc3f41d5fa54d812e9d2"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:19:43.984538Z","signature_b64":"9dr1MzKTsgixqiTCNFZGn6DhSJgtJtDZvtSFBmdGrIBLdpLZc6dDMUfpvEX06NX8LhaIRoy0/KJ6uwDnV8SkCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d0ae7f8566fd0ce54f30ae7e92fc68f576c29b765bacaf96e248a89ccc27cfd0","last_reissued_at":"2026-05-18T02:19:43.984133Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:19:43.984133Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"On the Method of Interconnection and Damping Assignment Passivity-Based Control for the Stabilization of Mechanical Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Dong Eui Chang","submitted_at":"2013-01-18T01:47:54Z","abstract_excerpt":"Interconnection and damping assignment passivity-based control (IDA-PBC) is an excellent method to stabilize mechanical systems in the Hamiltonian formalism. In this paper, several improvements are made on the IDA-PBC method. The skew-symmetric interconnection submatrix in the conventional form of IDA-PBC is shown to have some redundancy for systems with the number of degrees of freedom greater than two, containing unnecessary components that do not contribute to the dynamics. To completely remove this redundancy, the use of quadratic gyroscopic forces is proposed in place of the skew-symmetri"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1301.4285","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"1301.4285","created_at":"2026-05-18T02:19:43.984188+00:00"},{"alias_kind":"arxiv_version","alias_value":"1301.4285v2","created_at":"2026-05-18T02:19:43.984188+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1301.4285","created_at":"2026-05-18T02:19:43.984188+00:00"},{"alias_kind":"pith_short_12","alias_value":"2CXH7BLG7UGO","created_at":"2026-05-18T12:27:30.460161+00:00"},{"alias_kind":"pith_short_16","alias_value":"2CXH7BLG7UGOKTZQ","created_at":"2026-05-18T12:27:30.460161+00:00"},{"alias_kind":"pith_short_8","alias_value":"2CXH7BLG","created_at":"2026-05-18T12:27:30.460161+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/2CXH7BLG7UGOKTZQVZ7JF7DI6V","json":"https://pith.science/pith/2CXH7BLG7UGOKTZQVZ7JF7DI6V.json","graph_json":"https://pith.science/api/pith-number/2CXH7BLG7UGOKTZQVZ7JF7DI6V/graph.json","events_json":"https://pith.science/api/pith-number/2CXH7BLG7UGOKTZQVZ7JF7DI6V/events.json","paper":"https://pith.science/paper/2CXH7BLG"},"agent_actions":{"view_html":"https://pith.science/pith/2CXH7BLG7UGOKTZQVZ7JF7DI6V","download_json":"https://pith.science/pith/2CXH7BLG7UGOKTZQVZ7JF7DI6V.json","view_paper":"https://pith.science/paper/2CXH7BLG","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1301.4285&json=true","fetch_graph":"https://pith.science/api/pith-number/2CXH7BLG7UGOKTZQVZ7JF7DI6V/graph.json","fetch_events":"https://pith.science/api/pith-number/2CXH7BLG7UGOKTZQVZ7JF7DI6V/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/2CXH7BLG7UGOKTZQVZ7JF7DI6V/action/timestamp_anchor","attest_storage":"https://pith.science/pith/2CXH7BLG7UGOKTZQVZ7JF7DI6V/action/storage_attestation","attest_author":"https://pith.science/pith/2CXH7BLG7UGOKTZQVZ7JF7DI6V/action/author_attestation","sign_citation":"https://pith.science/pith/2CXH7BLG7UGOKTZQVZ7JF7DI6V/action/citation_signature","submit_replication":"https://pith.science/pith/2CXH7BLG7UGOKTZQVZ7JF7DI6V/action/replication_record"}},"created_at":"2026-05-18T02:19:43.984188+00:00","updated_at":"2026-05-18T02:19:43.984188+00:00"}