{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:4YF3EBJG3I2L7DWEMS5C3SK36I","short_pith_number":"pith:4YF3EBJG","canonical_record":{"source":{"id":"2210.10995","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-10-20T03:41:47Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"2a62bf0d128fe5c1b13b17884d28c94898776981ea580e0e03388d1f9ff08585","abstract_canon_sha256":"0140447fb21c23b2a342ef0f05a5c3f421dd29f048d93702951ba47e6cadb486"},"schema_version":"1.0"},"canonical_sha256":"e60bb20526da34bf8ec464ba2dc95bf229c10d2fced8679df66435835ed26231","source":{"kind":"arxiv","id":"2210.10995","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.10995","created_at":"2026-07-05T05:08:42Z"},{"alias_kind":"arxiv_version","alias_value":"2210.10995v1","created_at":"2026-07-05T05:08:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.10995","created_at":"2026-07-05T05:08:42Z"},{"alias_kind":"pith_short_12","alias_value":"4YF3EBJG3I2L","created_at":"2026-07-05T05:08:42Z"},{"alias_kind":"pith_short_16","alias_value":"4YF3EBJG3I2L7DWE","created_at":"2026-07-05T05:08:42Z"},{"alias_kind":"pith_short_8","alias_value":"4YF3EBJG","created_at":"2026-07-05T05:08:42Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:4YF3EBJG3I2L7DWEMS5C3SK36I","target":"record","payload":{"canonical_record":{"source":{"id":"2210.10995","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-10-20T03:41:47Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"2a62bf0d128fe5c1b13b17884d28c94898776981ea580e0e03388d1f9ff08585","abstract_canon_sha256":"0140447fb21c23b2a342ef0f05a5c3f421dd29f048d93702951ba47e6cadb486"},"schema_version":"1.0"},"canonical_sha256":"e60bb20526da34bf8ec464ba2dc95bf229c10d2fced8679df66435835ed26231","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:08:42.801569Z","signature_b64":"kvd6rFXFIeuFWdVDxofA8+I02vNiQ5LY/xfNNSHLn6M9czgDwNZm1eMjZ3FEACOJ/B20sW0FNbU9i5G/yVikBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e60bb20526da34bf8ec464ba2dc95bf229c10d2fced8679df66435835ed26231","last_reissued_at":"2026-07-05T05:08:42.801153Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:08:42.801153Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2210.10995","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T05:08:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0leIPazGLIot718JKM34XP01MxEJI+f6eybaO2aKKZ597tsWWTG87fEdYsYRtR3sq8D3ZfTEaqmku98YOl5NBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T06:51:16.318697Z"},"content_sha256":"1eb456a41281981ae317eadb99b2d2db17480764cdd7cc08f118d495f4d969e1","schema_version":"1.0","event_id":"sha256:1eb456a41281981ae317eadb99b2d2db17480764cdd7cc08f118d495f4d969e1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:4YF3EBJG3I2L7DWEMS5C3SK36I","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Reference Governor for Input-Constrained MPC to Enforce State Constraints at Lower Computational Cost","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Ilya Kolmanovsky, Jordan Leung, Miguel Castroviejo Fernandez","submitted_at":"2022-10-20T03:41:47Z","abstract_excerpt":"In this paper, a control scheme is developed based on an input constrained Model Predictive Controller (MPC) and the idea of modifying the reference command to enforce constraints, usual of Reference Governors (RG). The proposed scheme, referred to as the RGMPC, requires optimization for MPC with input constraints for which fast algorithms exist, and can handle (possibly nonlinear) state and input constraints. Conditions are given that ensure recursive feasibility of the RGMPC scheme and finite-time convergence of the modified command to the the desired reference command. Simulation results fo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.10995","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2210.10995/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T05:08:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AmrQhEpmFYbMlb0vTxkyLqhHjfWoup4TzQ0rXJ8X5lvEywpoSWxEeiib7Bo2yOLu/qCZocyDEZO9OpfYRakZBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T06:51:16.319629Z"},"content_sha256":"b6fbd58186eba6beaa786c9ca7b2c4a8d3b775670f19b7f4d7a428391007ffca","schema_version":"1.0","event_id":"sha256:b6fbd58186eba6beaa786c9ca7b2c4a8d3b775670f19b7f4d7a428391007ffca"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4YF3EBJG3I2L7DWEMS5C3SK36I/bundle.json","state_url":"https://pith.science/pith/4YF3EBJG3I2L7DWEMS5C3SK36I/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4YF3EBJG3I2L7DWEMS5C3SK36I/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-14T06:51:16Z","links":{"resolver":"https://pith.science/pith/4YF3EBJG3I2L7DWEMS5C3SK36I","bundle":"https://pith.science/pith/4YF3EBJG3I2L7DWEMS5C3SK36I/bundle.json","state":"https://pith.science/pith/4YF3EBJG3I2L7DWEMS5C3SK36I/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4YF3EBJG3I2L7DWEMS5C3SK36I/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:4YF3EBJG3I2L7DWEMS5C3SK36I","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"0140447fb21c23b2a342ef0f05a5c3f421dd29f048d93702951ba47e6cadb486","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-10-20T03:41:47Z","title_canon_sha256":"2a62bf0d128fe5c1b13b17884d28c94898776981ea580e0e03388d1f9ff08585"},"schema_version":"1.0","source":{"id":"2210.10995","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.10995","created_at":"2026-07-05T05:08:42Z"},{"alias_kind":"arxiv_version","alias_value":"2210.10995v1","created_at":"2026-07-05T05:08:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.10995","created_at":"2026-07-05T05:08:42Z"},{"alias_kind":"pith_short_12","alias_value":"4YF3EBJG3I2L","created_at":"2026-07-05T05:08:42Z"},{"alias_kind":"pith_short_16","alias_value":"4YF3EBJG3I2L7DWE","created_at":"2026-07-05T05:08:42Z"},{"alias_kind":"pith_short_8","alias_value":"4YF3EBJG","created_at":"2026-07-05T05:08:42Z"}],"graph_snapshots":[{"event_id":"sha256:b6fbd58186eba6beaa786c9ca7b2c4a8d3b775670f19b7f4d7a428391007ffca","target":"graph","created_at":"2026-07-05T05:08:42Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2210.10995/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, a control scheme is developed based on an input constrained Model Predictive Controller (MPC) and the idea of modifying the reference command to enforce constraints, usual of Reference Governors (RG). The proposed scheme, referred to as the RGMPC, requires optimization for MPC with input constraints for which fast algorithms exist, and can handle (possibly nonlinear) state and input constraints. Conditions are given that ensure recursive feasibility of the RGMPC scheme and finite-time convergence of the modified command to the the desired reference command. Simulation results fo","authors_text":"Ilya Kolmanovsky, Jordan Leung, Miguel Castroviejo Fernandez","cross_cats":["cs.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-10-20T03:41:47Z","title":"Reference Governor for Input-Constrained MPC to Enforce State Constraints at Lower Computational Cost"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.10995","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:1eb456a41281981ae317eadb99b2d2db17480764cdd7cc08f118d495f4d969e1","target":"record","created_at":"2026-07-05T05:08:42Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"0140447fb21c23b2a342ef0f05a5c3f421dd29f048d93702951ba47e6cadb486","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-10-20T03:41:47Z","title_canon_sha256":"2a62bf0d128fe5c1b13b17884d28c94898776981ea580e0e03388d1f9ff08585"},"schema_version":"1.0","source":{"id":"2210.10995","kind":"arxiv","version":1}},"canonical_sha256":"e60bb20526da34bf8ec464ba2dc95bf229c10d2fced8679df66435835ed26231","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e60bb20526da34bf8ec464ba2dc95bf229c10d2fced8679df66435835ed26231","first_computed_at":"2026-07-05T05:08:42.801153Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:08:42.801153Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"kvd6rFXFIeuFWdVDxofA8+I02vNiQ5LY/xfNNSHLn6M9czgDwNZm1eMjZ3FEACOJ/B20sW0FNbU9i5G/yVikBw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:08:42.801569Z","signed_message":"canonical_sha256_bytes"},"source_id":"2210.10995","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1eb456a41281981ae317eadb99b2d2db17480764cdd7cc08f118d495f4d969e1","sha256:b6fbd58186eba6beaa786c9ca7b2c4a8d3b775670f19b7f4d7a428391007ffca"],"state_sha256":"1064c3cb4886c43820d45033df0a2018e5faae7fca2d46053a0319f015370ed0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LyX9AHreQTdebmoFctFkVYo+S9Yo+K/u26BsJHRhi0bANhYbIkr8Ib6Y7TgcXcEXkl5Ut8+2urCIeAvhpmJ7AQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T06:51:16.326776Z","bundle_sha256":"22852a6b56385d801a577478b8e7256a46453e719504178f77fea85e9883239d"}}