{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:JRNEKUACZ5PBPGURTKL5DT6SKO","short_pith_number":"pith:JRNEKUAC","canonical_record":{"source":{"id":"1806.08550","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2018-06-22T08:40:39Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"6c96dce9faa7290dada78cc95910ac0b3d3b37589c488feee847d13d20602ae7","abstract_canon_sha256":"8cbc17888c293d87365dbb28f98561e544ca7eb4866aee20c9ee8ec00624e90d"},"schema_version":"1.0"},"canonical_sha256":"4c5a455002cf5e179a919a97d1cfd253be3938045fd1d73782f8b5469d15fcc7","source":{"kind":"arxiv","id":"1806.08550","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1806.08550","created_at":"2026-06-04T19:12:00Z"},{"alias_kind":"arxiv_version","alias_value":"1806.08550v2","created_at":"2026-06-04T19:12:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1806.08550","created_at":"2026-06-04T19:12:00Z"},{"alias_kind":"pith_short_12","alias_value":"JRNEKUACZ5PB","created_at":"2026-06-04T19:12:00Z"},{"alias_kind":"pith_short_16","alias_value":"JRNEKUACZ5PBPGUR","created_at":"2026-06-04T19:12:00Z"},{"alias_kind":"pith_short_8","alias_value":"JRNEKUAC","created_at":"2026-06-04T19:12:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:JRNEKUACZ5PBPGURTKL5DT6SKO","target":"record","payload":{"canonical_record":{"source":{"id":"1806.08550","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2018-06-22T08:40:39Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"6c96dce9faa7290dada78cc95910ac0b3d3b37589c488feee847d13d20602ae7","abstract_canon_sha256":"8cbc17888c293d87365dbb28f98561e544ca7eb4866aee20c9ee8ec00624e90d"},"schema_version":"1.0"},"canonical_sha256":"4c5a455002cf5e179a919a97d1cfd253be3938045fd1d73782f8b5469d15fcc7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-04T19:12:00.320960Z","signature_b64":"PgmZrN4JI+NB1tznzNilhh5UWBXqfztMdcgtcNMJ7rL2dS247RhNhl/4qYs0TsFfucP05H+KGmsWNBfsrwHWBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4c5a455002cf5e179a919a97d1cfd253be3938045fd1d73782f8b5469d15fcc7","last_reissued_at":"2026-06-04T19:12:00.320566Z","signature_status":"signed_v1","first_computed_at":"2026-06-04T19:12:00.320566Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1806.08550","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-04T19:12:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6NbeI/ZnHcnwJT1kd1WzPFkxE38Dgp0LmQwh1XrUCPpeAhIfXtJq7pfzHcXDnc+pUYJEMCTJVHthCACI9KBlBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T06:08:57.934431Z"},"content_sha256":"4bc91ff9d7c1387be8973b5c2e6f5b13d063f8b50422ec7bab6af62dff6690a2","schema_version":"1.0","event_id":"sha256:4bc91ff9d7c1387be8973b5c2e6f5b13d063f8b50422ec7bab6af62dff6690a2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:JRNEKUACZ5PBPGURTKL5DT6SKO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multivariable Iterative Learning Control Design Procedures: from Decentralized to Centralized, Illustrated on an Industrial Printer","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Lennart Blanken, Tom Oomen","submitted_at":"2018-06-22T08:40:39Z","abstract_excerpt":"Iterative Learning Control (ILC) enables high control performance through learning from measured data, using only limited model knowledge in the form of a nominal parametric model. Robust stability requires robustness to modeling errors, often due to deliberate undermodeling. The aim of this paper is to develop a range of approaches for multivariable ILC, where specific attention is given to addressing interaction. The proposed methods either address the interaction in the nominal model, or as uncertainty, i.e., through robust stability. The result is a range of techniques, including the use o"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1806.08550","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/1806.08550/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":"2026-06-04T19:12:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RTxqnMviXiCGgu070ITCPl0rVKcbAFNFg5YRkcO/LSi0CcGsPSXropJrnt5yLO6VRljy2N+bBJSQdfZYTsTHBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T06:08:57.935100Z"},"content_sha256":"b72e7a2b3ce443c57a489827d385a46f5312a2941c7c475eca574b293f9a3e7d","schema_version":"1.0","event_id":"sha256:b72e7a2b3ce443c57a489827d385a46f5312a2941c7c475eca574b293f9a3e7d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JRNEKUACZ5PBPGURTKL5DT6SKO/bundle.json","state_url":"https://pith.science/pith/JRNEKUACZ5PBPGURTKL5DT6SKO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JRNEKUACZ5PBPGURTKL5DT6SKO/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":"2026-06-11T06:08:57Z","links":{"resolver":"https://pith.science/pith/JRNEKUACZ5PBPGURTKL5DT6SKO","bundle":"https://pith.science/pith/JRNEKUACZ5PBPGURTKL5DT6SKO/bundle.json","state":"https://pith.science/pith/JRNEKUACZ5PBPGURTKL5DT6SKO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JRNEKUACZ5PBPGURTKL5DT6SKO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:JRNEKUACZ5PBPGURTKL5DT6SKO","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":"8cbc17888c293d87365dbb28f98561e544ca7eb4866aee20c9ee8ec00624e90d","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2018-06-22T08:40:39Z","title_canon_sha256":"6c96dce9faa7290dada78cc95910ac0b3d3b37589c488feee847d13d20602ae7"},"schema_version":"1.0","source":{"id":"1806.08550","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1806.08550","created_at":"2026-06-04T19:12:00Z"},{"alias_kind":"arxiv_version","alias_value":"1806.08550v2","created_at":"2026-06-04T19:12:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1806.08550","created_at":"2026-06-04T19:12:00Z"},{"alias_kind":"pith_short_12","alias_value":"JRNEKUACZ5PB","created_at":"2026-06-04T19:12:00Z"},{"alias_kind":"pith_short_16","alias_value":"JRNEKUACZ5PBPGUR","created_at":"2026-06-04T19:12:00Z"},{"alias_kind":"pith_short_8","alias_value":"JRNEKUAC","created_at":"2026-06-04T19:12:00Z"}],"graph_snapshots":[{"event_id":"sha256:b72e7a2b3ce443c57a489827d385a46f5312a2941c7c475eca574b293f9a3e7d","target":"graph","created_at":"2026-06-04T19:12:00Z","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/1806.08550/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Iterative Learning Control (ILC) enables high control performance through learning from measured data, using only limited model knowledge in the form of a nominal parametric model. Robust stability requires robustness to modeling errors, often due to deliberate undermodeling. The aim of this paper is to develop a range of approaches for multivariable ILC, where specific attention is given to addressing interaction. The proposed methods either address the interaction in the nominal model, or as uncertainty, i.e., through robust stability. The result is a range of techniques, including the use o","authors_text":"Lennart Blanken, Tom Oomen","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2018-06-22T08:40:39Z","title":"Multivariable Iterative Learning Control Design Procedures: from Decentralized to Centralized, Illustrated on an Industrial Printer"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1806.08550","kind":"arxiv","version":2},"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":"sha256:4bc91ff9d7c1387be8973b5c2e6f5b13d063f8b50422ec7bab6af62dff6690a2","target":"record","created_at":"2026-06-04T19:12:00Z","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":"8cbc17888c293d87365dbb28f98561e544ca7eb4866aee20c9ee8ec00624e90d","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2018-06-22T08:40:39Z","title_canon_sha256":"6c96dce9faa7290dada78cc95910ac0b3d3b37589c488feee847d13d20602ae7"},"schema_version":"1.0","source":{"id":"1806.08550","kind":"arxiv","version":2}},"canonical_sha256":"4c5a455002cf5e179a919a97d1cfd253be3938045fd1d73782f8b5469d15fcc7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4c5a455002cf5e179a919a97d1cfd253be3938045fd1d73782f8b5469d15fcc7","first_computed_at":"2026-06-04T19:12:00.320566Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-04T19:12:00.320566Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"PgmZrN4JI+NB1tznzNilhh5UWBXqfztMdcgtcNMJ7rL2dS247RhNhl/4qYs0TsFfucP05H+KGmsWNBfsrwHWBg==","signature_status":"signed_v1","signed_at":"2026-06-04T19:12:00.320960Z","signed_message":"canonical_sha256_bytes"},"source_id":"1806.08550","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4bc91ff9d7c1387be8973b5c2e6f5b13d063f8b50422ec7bab6af62dff6690a2","sha256:b72e7a2b3ce443c57a489827d385a46f5312a2941c7c475eca574b293f9a3e7d"],"state_sha256":"ace2b5c99cf85f7fee3dd40c72e332048d47c5585c191bd84c1a0f21f516abdd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"s+F/HP8bp7ybrhakZl6oo7nfRSyirWnwFACKJk7iaVHPe94XLERSXVwZ/EF0ymac7HUrGCgH21EnH1oZ2f7kCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-11T06:08:57.938961Z","bundle_sha256":"0424f2a7c7323a3aad300a3efe713bd30b64d30d226bb84cdbc45676950836f8"}}