{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:HWTP23QFLDT64M2W4IK22VO45N","short_pith_number":"pith:HWTP23QF","canonical_record":{"source":{"id":"1807.07465","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2018-07-19T14:39:25Z","cross_cats_sorted":["cs.SY","math.OC"],"title_canon_sha256":"4390ef3d7fb7b7aae29c26bfd25a26ad48b108c08ba5d75540005411a40f4cfd","abstract_canon_sha256":"3694de4fdcc53f5575fcbee61e54380300864b98bf4a4c42567a5bc39fe345be"},"schema_version":"1.0"},"canonical_sha256":"3da6fd6e0558e7ee3356e215ad55dceb6dce2531a7844ae7aea665fa44985241","source":{"kind":"arxiv","id":"1807.07465","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.07465","created_at":"2026-06-04T19:12:08Z"},{"alias_kind":"arxiv_version","alias_value":"1807.07465v1","created_at":"2026-06-04T19:12:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.07465","created_at":"2026-06-04T19:12:08Z"},{"alias_kind":"pith_short_12","alias_value":"HWTP23QFLDT6","created_at":"2026-06-04T19:12:08Z"},{"alias_kind":"pith_short_16","alias_value":"HWTP23QFLDT64M2W","created_at":"2026-06-04T19:12:08Z"},{"alias_kind":"pith_short_8","alias_value":"HWTP23QF","created_at":"2026-06-04T19:12:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:HWTP23QFLDT64M2W4IK22VO45N","target":"record","payload":{"canonical_record":{"source":{"id":"1807.07465","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2018-07-19T14:39:25Z","cross_cats_sorted":["cs.SY","math.OC"],"title_canon_sha256":"4390ef3d7fb7b7aae29c26bfd25a26ad48b108c08ba5d75540005411a40f4cfd","abstract_canon_sha256":"3694de4fdcc53f5575fcbee61e54380300864b98bf4a4c42567a5bc39fe345be"},"schema_version":"1.0"},"canonical_sha256":"3da6fd6e0558e7ee3356e215ad55dceb6dce2531a7844ae7aea665fa44985241","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-04T19:12:08.306013Z","signature_b64":"aQpIKnkTETwavRM4Y7vET3C6C6CKxO8S23nepbaRS5jy9afvLUEPnfgGTSBSV/NQIExWAYzulsbvfMCnAIEzDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3da6fd6e0558e7ee3356e215ad55dceb6dce2531a7844ae7aea665fa44985241","last_reissued_at":"2026-06-04T19:12:08.305506Z","signature_status":"signed_v1","first_computed_at":"2026-06-04T19:12:08.305506Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1807.07465","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":"2026-06-04T19:12:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"F49mxx5yR47Wl3UK5JgNwvzxhNq347G5eg+SGJkjQpOO/Fbk8wpRJZFU12AMS7KvadvP25d4Yx6F6QtiMXCXAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T18:39:40.329069Z"},"content_sha256":"08a4b107f3c863f50dd8815d7f2e544d2721712aec316d414bf30200abe42fc5","schema_version":"1.0","event_id":"sha256:08a4b107f3c863f50dd8815d7f2e544d2721712aec316d414bf30200abe42fc5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:HWTP23QFLDT64M2W4IK22VO45N","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Stochastic Model Predictive Control with Discounted Probabilistic Constraints","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","math.OC"],"primary_cat":"eess.SY","authors_text":"Mark Cannon, Paul Goulart, Shuhao Yan","submitted_at":"2018-07-19T14:39:25Z","abstract_excerpt":"This paper considers linear discrete-time systems with additive disturbances, and designs a Model Predictive Control (MPC) law to minimise a quadratic cost function subject to a chance constraint. The chance constraint is defined as a discounted sum of violation probabilities on an infinite horizon. By penalising violation probabilities close to the initial time and ignoring violation probabilities in the far future, this form of constraint enables the feasibility of the online optimisation to be guaranteed without an assumption of boundedness of the disturbance. A computationally convenient M"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.07465","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/1807.07465/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":"2026-06-04T19:12:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Glu3uBLT5zKBON1mZ9aPgw81rIbjNSLnirNS8WbPvzoP1if7gr+31i4NRXT3Bk2WTvju+HSuzZ1fJzxrLMMBAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T18:39:40.329795Z"},"content_sha256":"e9d90bc49c115b2a063bcd3738aa88a77de35127af7fd730d8f2e2d371c3fee1","schema_version":"1.0","event_id":"sha256:e9d90bc49c115b2a063bcd3738aa88a77de35127af7fd730d8f2e2d371c3fee1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HWTP23QFLDT64M2W4IK22VO45N/bundle.json","state_url":"https://pith.science/pith/HWTP23QFLDT64M2W4IK22VO45N/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HWTP23QFLDT64M2W4IK22VO45N/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":"2026-06-06T18:39:40Z","links":{"resolver":"https://pith.science/pith/HWTP23QFLDT64M2W4IK22VO45N","bundle":"https://pith.science/pith/HWTP23QFLDT64M2W4IK22VO45N/bundle.json","state":"https://pith.science/pith/HWTP23QFLDT64M2W4IK22VO45N/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HWTP23QFLDT64M2W4IK22VO45N/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:HWTP23QFLDT64M2W4IK22VO45N","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":"3694de4fdcc53f5575fcbee61e54380300864b98bf4a4c42567a5bc39fe345be","cross_cats_sorted":["cs.SY","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2018-07-19T14:39:25Z","title_canon_sha256":"4390ef3d7fb7b7aae29c26bfd25a26ad48b108c08ba5d75540005411a40f4cfd"},"schema_version":"1.0","source":{"id":"1807.07465","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.07465","created_at":"2026-06-04T19:12:08Z"},{"alias_kind":"arxiv_version","alias_value":"1807.07465v1","created_at":"2026-06-04T19:12:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.07465","created_at":"2026-06-04T19:12:08Z"},{"alias_kind":"pith_short_12","alias_value":"HWTP23QFLDT6","created_at":"2026-06-04T19:12:08Z"},{"alias_kind":"pith_short_16","alias_value":"HWTP23QFLDT64M2W","created_at":"2026-06-04T19:12:08Z"},{"alias_kind":"pith_short_8","alias_value":"HWTP23QF","created_at":"2026-06-04T19:12:08Z"}],"graph_snapshots":[{"event_id":"sha256:e9d90bc49c115b2a063bcd3738aa88a77de35127af7fd730d8f2e2d371c3fee1","target":"graph","created_at":"2026-06-04T19:12:08Z","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/1807.07465/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper considers linear discrete-time systems with additive disturbances, and designs a Model Predictive Control (MPC) law to minimise a quadratic cost function subject to a chance constraint. The chance constraint is defined as a discounted sum of violation probabilities on an infinite horizon. By penalising violation probabilities close to the initial time and ignoring violation probabilities in the far future, this form of constraint enables the feasibility of the online optimisation to be guaranteed without an assumption of boundedness of the disturbance. A computationally convenient M","authors_text":"Mark Cannon, Paul Goulart, Shuhao Yan","cross_cats":["cs.SY","math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2018-07-19T14:39:25Z","title":"Stochastic Model Predictive Control with Discounted Probabilistic Constraints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.07465","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":"sha256:08a4b107f3c863f50dd8815d7f2e544d2721712aec316d414bf30200abe42fc5","target":"record","created_at":"2026-06-04T19:12:08Z","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":"3694de4fdcc53f5575fcbee61e54380300864b98bf4a4c42567a5bc39fe345be","cross_cats_sorted":["cs.SY","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2018-07-19T14:39:25Z","title_canon_sha256":"4390ef3d7fb7b7aae29c26bfd25a26ad48b108c08ba5d75540005411a40f4cfd"},"schema_version":"1.0","source":{"id":"1807.07465","kind":"arxiv","version":1}},"canonical_sha256":"3da6fd6e0558e7ee3356e215ad55dceb6dce2531a7844ae7aea665fa44985241","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3da6fd6e0558e7ee3356e215ad55dceb6dce2531a7844ae7aea665fa44985241","first_computed_at":"2026-06-04T19:12:08.305506Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-04T19:12:08.305506Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"aQpIKnkTETwavRM4Y7vET3C6C6CKxO8S23nepbaRS5jy9afvLUEPnfgGTSBSV/NQIExWAYzulsbvfMCnAIEzDQ==","signature_status":"signed_v1","signed_at":"2026-06-04T19:12:08.306013Z","signed_message":"canonical_sha256_bytes"},"source_id":"1807.07465","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:08a4b107f3c863f50dd8815d7f2e544d2721712aec316d414bf30200abe42fc5","sha256:e9d90bc49c115b2a063bcd3738aa88a77de35127af7fd730d8f2e2d371c3fee1"],"state_sha256":"e32c85109de88c8d2ebdc8aefd35740fdc2ea57141bb30638eea76992fe735b3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"r1D7wMJHBNBXU79z1LVBN/x2CfJugCUgVpglC4SguljcmR5Bd1ABQScemflJQOzZ9ZBVJ2x3LJUEsuOBmgeUBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-06T18:39:40.333114Z","bundle_sha256":"006723bd20a2058afdf021c818208f31502b74b853a52399bbc0846d66ce76d5"}}