{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:AOMWIDUPZCP7FJBVEJW4OF22D4","short_pith_number":"pith:AOMWIDUP","canonical_record":{"source":{"id":"2007.12536","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-07-24T14:32:07Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"a1cc39c0726337341fce5e213a75a007e745166450758048524af5a33d239140","abstract_canon_sha256":"9416832d8f2b7b78e791a4f86107616956a335fba5ee5083e77132bedcf996f6"},"schema_version":"1.0"},"canonical_sha256":"0399640e8fc89ff2a435226dc7175a1f1e71514e2647b68ad2e8ca6e3c06152a","source":{"kind":"arxiv","id":"2007.12536","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2007.12536","created_at":"2026-07-05T02:08:30Z"},{"alias_kind":"arxiv_version","alias_value":"2007.12536v1","created_at":"2026-07-05T02:08:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2007.12536","created_at":"2026-07-05T02:08:30Z"},{"alias_kind":"pith_short_12","alias_value":"AOMWIDUPZCP7","created_at":"2026-07-05T02:08:30Z"},{"alias_kind":"pith_short_16","alias_value":"AOMWIDUPZCP7FJBV","created_at":"2026-07-05T02:08:30Z"},{"alias_kind":"pith_short_8","alias_value":"AOMWIDUP","created_at":"2026-07-05T02:08:30Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:AOMWIDUPZCP7FJBVEJW4OF22D4","target":"record","payload":{"canonical_record":{"source":{"id":"2007.12536","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-07-24T14:32:07Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"a1cc39c0726337341fce5e213a75a007e745166450758048524af5a33d239140","abstract_canon_sha256":"9416832d8f2b7b78e791a4f86107616956a335fba5ee5083e77132bedcf996f6"},"schema_version":"1.0"},"canonical_sha256":"0399640e8fc89ff2a435226dc7175a1f1e71514e2647b68ad2e8ca6e3c06152a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:08:30.924177Z","signature_b64":"oSVgUa+yhs2SFhwAFQeCaIpfAzujt51k6RsIzuZNcoKJXU42SW/chprv16S9ADRkv/6iwO99l6hUbLvRc4eDCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0399640e8fc89ff2a435226dc7175a1f1e71514e2647b68ad2e8ca6e3c06152a","last_reissued_at":"2026-07-05T02:08:30.923763Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:08:30.923763Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2007.12536","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":"2026-07-05T02:08:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Jv9J9XL+7Fln5jSYpb8U5DyyHeGgvrVlPiDuK6tn4IUhU/z+ehUEUMY5IjXZ0OxvWVs0ouKooXxtd4vbYEItBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-11T08:19:43.071156Z"},"content_sha256":"2ced9a5a207574882805192c1619d2a7c8b139b5b6caff9756150116185d3c76","schema_version":"1.0","event_id":"sha256:2ced9a5a207574882805192c1619d2a7c8b139b5b6caff9756150116185d3c76"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:AOMWIDUPZCP7FJBVEJW4OF22D4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Performance-Driven Cascade Controller Tuning with Bayesian Optimization","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Alisa Rupenyan, John Lygeros, Mohammad Khosravi, Piotr Myszkorowski, Roy S. Smith, Varsha Behrunani","submitted_at":"2020-07-24T14:32:07Z","abstract_excerpt":"We propose a performance-based autotuning method for cascade control systems, where the parameters of a linear axis drive motion controller from two control loops are tuned jointly. Using Bayesian optimization as all parameters are tuned simultaneously, the method is guaranteed to converge asymptotically to the global optimum of the cost. The data-efficiency and performance of the method are studied numerically for several training configurations and compared numerically to those achieved with classical tuning methods and to the exhaustive evaluation of the cost. On the real system, the tracki"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2007.12536","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/2007.12536/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":"2026-07-05T02:08:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YSeqKAWrHEa5zhz/4AW3aM7RA5z9K9vE/NdUy7fl0TsodWLS86CMRztEEw/HPG2usvQ97sg7kPNKEaEegh/FBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-11T08:19:43.071559Z"},"content_sha256":"77e5df406bac8d9f1a28b7a5453d6d89367b18832c97d76995c608940d571cb0","schema_version":"1.0","event_id":"sha256:77e5df406bac8d9f1a28b7a5453d6d89367b18832c97d76995c608940d571cb0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AOMWIDUPZCP7FJBVEJW4OF22D4/bundle.json","state_url":"https://pith.science/pith/AOMWIDUPZCP7FJBVEJW4OF22D4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AOMWIDUPZCP7FJBVEJW4OF22D4/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":"2026-07-11T08:19:43Z","links":{"resolver":"https://pith.science/pith/AOMWIDUPZCP7FJBVEJW4OF22D4","bundle":"https://pith.science/pith/AOMWIDUPZCP7FJBVEJW4OF22D4/bundle.json","state":"https://pith.science/pith/AOMWIDUPZCP7FJBVEJW4OF22D4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AOMWIDUPZCP7FJBVEJW4OF22D4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:AOMWIDUPZCP7FJBVEJW4OF22D4","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":"9416832d8f2b7b78e791a4f86107616956a335fba5ee5083e77132bedcf996f6","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-07-24T14:32:07Z","title_canon_sha256":"a1cc39c0726337341fce5e213a75a007e745166450758048524af5a33d239140"},"schema_version":"1.0","source":{"id":"2007.12536","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2007.12536","created_at":"2026-07-05T02:08:30Z"},{"alias_kind":"arxiv_version","alias_value":"2007.12536v1","created_at":"2026-07-05T02:08:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2007.12536","created_at":"2026-07-05T02:08:30Z"},{"alias_kind":"pith_short_12","alias_value":"AOMWIDUPZCP7","created_at":"2026-07-05T02:08:30Z"},{"alias_kind":"pith_short_16","alias_value":"AOMWIDUPZCP7FJBV","created_at":"2026-07-05T02:08:30Z"},{"alias_kind":"pith_short_8","alias_value":"AOMWIDUP","created_at":"2026-07-05T02:08:30Z"}],"graph_snapshots":[{"event_id":"sha256:77e5df406bac8d9f1a28b7a5453d6d89367b18832c97d76995c608940d571cb0","target":"graph","created_at":"2026-07-05T02:08:30Z","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/2007.12536/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose a performance-based autotuning method for cascade control systems, where the parameters of a linear axis drive motion controller from two control loops are tuned jointly. Using Bayesian optimization as all parameters are tuned simultaneously, the method is guaranteed to converge asymptotically to the global optimum of the cost. The data-efficiency and performance of the method are studied numerically for several training configurations and compared numerically to those achieved with classical tuning methods and to the exhaustive evaluation of the cost. On the real system, the tracki","authors_text":"Alisa Rupenyan, John Lygeros, Mohammad Khosravi, Piotr Myszkorowski, Roy S. Smith, Varsha Behrunani","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-07-24T14:32:07Z","title":"Performance-Driven Cascade Controller Tuning with Bayesian Optimization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2007.12536","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":"sha256:2ced9a5a207574882805192c1619d2a7c8b139b5b6caff9756150116185d3c76","target":"record","created_at":"2026-07-05T02:08:30Z","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":"9416832d8f2b7b78e791a4f86107616956a335fba5ee5083e77132bedcf996f6","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-07-24T14:32:07Z","title_canon_sha256":"a1cc39c0726337341fce5e213a75a007e745166450758048524af5a33d239140"},"schema_version":"1.0","source":{"id":"2007.12536","kind":"arxiv","version":1}},"canonical_sha256":"0399640e8fc89ff2a435226dc7175a1f1e71514e2647b68ad2e8ca6e3c06152a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0399640e8fc89ff2a435226dc7175a1f1e71514e2647b68ad2e8ca6e3c06152a","first_computed_at":"2026-07-05T02:08:30.923763Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:08:30.923763Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"oSVgUa+yhs2SFhwAFQeCaIpfAzujt51k6RsIzuZNcoKJXU42SW/chprv16S9ADRkv/6iwO99l6hUbLvRc4eDCg==","signature_status":"signed_v1","signed_at":"2026-07-05T02:08:30.924177Z","signed_message":"canonical_sha256_bytes"},"source_id":"2007.12536","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2ced9a5a207574882805192c1619d2a7c8b139b5b6caff9756150116185d3c76","sha256:77e5df406bac8d9f1a28b7a5453d6d89367b18832c97d76995c608940d571cb0"],"state_sha256":"7e2450c94d7818ff43bda53632cc759984136057c11c1b7aa8092146febf00cd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cI6FNYMS2E0LqTRHvjmU524xYtuUxaUiXnKWfA1VwZqecQhwUAws9dqWtfg47cHoJxhppp0qAjm/V7zIfdVYBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-11T08:19:43.073763Z","bundle_sha256":"a4807c5b482ee448fd244f30b9044efc63ae729d223d8fe1e523f406a03fd9a8"}}