{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:EWDFPGX33YXZ4WZLSAAJ4FB3YM","short_pith_number":"pith:EWDFPGX3","canonical_record":{"source":{"id":"1509.06542","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.SY","submitted_at":"2015-09-22T10:33:17Z","cross_cats_sorted":[],"title_canon_sha256":"eeb5eaa8de679b2b62f3b63cb691ef7bf2618dcc7b7afc13326eee744d5f9f5e","abstract_canon_sha256":"c6bd37e25b9933c85013c087c7fab3704c4fb222388062545c9fc421fcc21cd9"},"schema_version":"1.0"},"canonical_sha256":"2586579afbde2f9e5b2b90009e143bc327f4dc914d3e4d73a898cc8cb212a2d0","source":{"kind":"arxiv","id":"1509.06542","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1509.06542","created_at":"2026-05-18T01:18:03Z"},{"alias_kind":"arxiv_version","alias_value":"1509.06542v1","created_at":"2026-05-18T01:18:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1509.06542","created_at":"2026-05-18T01:18:03Z"},{"alias_kind":"pith_short_12","alias_value":"EWDFPGX33YXZ","created_at":"2026-05-18T12:29:19Z"},{"alias_kind":"pith_short_16","alias_value":"EWDFPGX33YXZ4WZL","created_at":"2026-05-18T12:29:19Z"},{"alias_kind":"pith_short_8","alias_value":"EWDFPGX3","created_at":"2026-05-18T12:29:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:EWDFPGX33YXZ4WZLSAAJ4FB3YM","target":"record","payload":{"canonical_record":{"source":{"id":"1509.06542","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.SY","submitted_at":"2015-09-22T10:33:17Z","cross_cats_sorted":[],"title_canon_sha256":"eeb5eaa8de679b2b62f3b63cb691ef7bf2618dcc7b7afc13326eee744d5f9f5e","abstract_canon_sha256":"c6bd37e25b9933c85013c087c7fab3704c4fb222388062545c9fc421fcc21cd9"},"schema_version":"1.0"},"canonical_sha256":"2586579afbde2f9e5b2b90009e143bc327f4dc914d3e4d73a898cc8cb212a2d0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:18:03.289455Z","signature_b64":"7c9VfMC3MLQYCsWe1lgODdPB+fLS1pCtHtMuSgxpj7lrbpSHoaXdq8sR5rpelzrnJAbDb7kFPWGjnuSBYjtICQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2586579afbde2f9e5b2b90009e143bc327f4dc914d3e4d73a898cc8cb212a2d0","last_reissued_at":"2026-05-18T01:18:03.288791Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:18:03.288791Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1509.06542","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":"2026-05-18T01:18:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bkQ7m3XayrvqK9LtVaLsu3UGASh/9fTCmlcZcqkP+16gAfcVCohc29t1qWUN1kfrx5iSiOxMWiQ07nKecyI9DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T19:40:54.106046Z"},"content_sha256":"b4f73506213caced4e553ef15a2c4ab5069dbc92b157788af85d16b088a6ffbd","schema_version":"1.0","event_id":"sha256:b4f73506213caced4e553ef15a2c4ab5069dbc92b157788af85d16b088a6ffbd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:EWDFPGX33YXZ4WZLSAAJ4FB3YM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Adaptive-Robust Control of a Class of Nonlinear Systems with Unknown Input Delay","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Indra Narayan Kar, Spandan Roy","submitted_at":"2015-09-22T10:33:17Z","abstract_excerpt":"In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive Robust Outer Loop Control (AROLC) is proposed. Compared to the conventional predictor based approaches, the proposed controller is capable of negotiating any input delay, within a stipulated range, without knowing the delay or its variation. The maximum allowable input delay is computed through Razumikhin-type stability analysis. AROLC also provides robustness a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1509.06542","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":""},"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":"2026-05-18T01:18:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Iy68skfkrVUCDVAplbHOL4UBQ18DKmiwgmY0+hM8kQU2d1CI2kH1tj901ma+FqdZv7HQlXi6VpMFjqFbRZ5SDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T19:40:54.106445Z"},"content_sha256":"c74f62371ae678689896eef292b19123be88bdba3c1d5c790a8f2f842af6c4f1","schema_version":"1.0","event_id":"sha256:c74f62371ae678689896eef292b19123be88bdba3c1d5c790a8f2f842af6c4f1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/EWDFPGX33YXZ4WZLSAAJ4FB3YM/bundle.json","state_url":"https://pith.science/pith/EWDFPGX33YXZ4WZLSAAJ4FB3YM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/EWDFPGX33YXZ4WZLSAAJ4FB3YM/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":"2026-06-01T19:40:54Z","links":{"resolver":"https://pith.science/pith/EWDFPGX33YXZ4WZLSAAJ4FB3YM","bundle":"https://pith.science/pith/EWDFPGX33YXZ4WZLSAAJ4FB3YM/bundle.json","state":"https://pith.science/pith/EWDFPGX33YXZ4WZLSAAJ4FB3YM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/EWDFPGX33YXZ4WZLSAAJ4FB3YM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:EWDFPGX33YXZ4WZLSAAJ4FB3YM","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":"c6bd37e25b9933c85013c087c7fab3704c4fb222388062545c9fc421fcc21cd9","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.SY","submitted_at":"2015-09-22T10:33:17Z","title_canon_sha256":"eeb5eaa8de679b2b62f3b63cb691ef7bf2618dcc7b7afc13326eee744d5f9f5e"},"schema_version":"1.0","source":{"id":"1509.06542","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1509.06542","created_at":"2026-05-18T01:18:03Z"},{"alias_kind":"arxiv_version","alias_value":"1509.06542v1","created_at":"2026-05-18T01:18:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1509.06542","created_at":"2026-05-18T01:18:03Z"},{"alias_kind":"pith_short_12","alias_value":"EWDFPGX33YXZ","created_at":"2026-05-18T12:29:19Z"},{"alias_kind":"pith_short_16","alias_value":"EWDFPGX33YXZ4WZL","created_at":"2026-05-18T12:29:19Z"},{"alias_kind":"pith_short_8","alias_value":"EWDFPGX3","created_at":"2026-05-18T12:29:19Z"}],"graph_snapshots":[{"event_id":"sha256:c74f62371ae678689896eef292b19123be88bdba3c1d5c790a8f2f842af6c4f1","target":"graph","created_at":"2026-05-18T01:18:03Z","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"},"paper":{"abstract_excerpt":"In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive Robust Outer Loop Control (AROLC) is proposed. Compared to the conventional predictor based approaches, the proposed controller is capable of negotiating any input delay, within a stipulated range, without knowing the delay or its variation. The maximum allowable input delay is computed through Razumikhin-type stability analysis. AROLC also provides robustness a","authors_text":"Indra Narayan Kar, Spandan Roy","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.SY","submitted_at":"2015-09-22T10:33:17Z","title":"Adaptive-Robust Control of a Class of Nonlinear Systems with Unknown Input Delay"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1509.06542","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:b4f73506213caced4e553ef15a2c4ab5069dbc92b157788af85d16b088a6ffbd","target":"record","created_at":"2026-05-18T01:18:03Z","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":"c6bd37e25b9933c85013c087c7fab3704c4fb222388062545c9fc421fcc21cd9","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.SY","submitted_at":"2015-09-22T10:33:17Z","title_canon_sha256":"eeb5eaa8de679b2b62f3b63cb691ef7bf2618dcc7b7afc13326eee744d5f9f5e"},"schema_version":"1.0","source":{"id":"1509.06542","kind":"arxiv","version":1}},"canonical_sha256":"2586579afbde2f9e5b2b90009e143bc327f4dc914d3e4d73a898cc8cb212a2d0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2586579afbde2f9e5b2b90009e143bc327f4dc914d3e4d73a898cc8cb212a2d0","first_computed_at":"2026-05-18T01:18:03.288791Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:18:03.288791Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7c9VfMC3MLQYCsWe1lgODdPB+fLS1pCtHtMuSgxpj7lrbpSHoaXdq8sR5rpelzrnJAbDb7kFPWGjnuSBYjtICQ==","signature_status":"signed_v1","signed_at":"2026-05-18T01:18:03.289455Z","signed_message":"canonical_sha256_bytes"},"source_id":"1509.06542","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b4f73506213caced4e553ef15a2c4ab5069dbc92b157788af85d16b088a6ffbd","sha256:c74f62371ae678689896eef292b19123be88bdba3c1d5c790a8f2f842af6c4f1"],"state_sha256":"7cc67bf16cd62415a705e9243e4c4912c1cada74dacf2b2474abf7726b6b910b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"98iV+wtG2bB2EcAFoqViEltK4Jy51Y2ngap/LWspVKwsAY7ESOWRTr3LSqfpLxjVUM/WuqlYfiBzMjKszFN8Cg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-01T19:40:54.108894Z","bundle_sha256":"e668300a8ea32988fff49d73a60f658e0bc3c9f5552c7e8fd893c135cc5e056d"}}