{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:L4FMEIWOSGGG5CLC4L6KL6EJAT","short_pith_number":"pith:L4FMEIWO","canonical_record":{"source":{"id":"2211.07309","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-11-14T12:48:00Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"f3b231b4c9aaf5883f4f5caff58e0a3f80ab00b7cc7edf84c91d0fee82f6e971","abstract_canon_sha256":"f1c7ade312989f31bd34761df578f8f9cdbe27b6a0f12ef528407dbd9d0b4be6"},"schema_version":"1.0"},"canonical_sha256":"5f0ac222ce918c6e8962e2fca5f88904fe46ece13116cc472bfc52b556cf3784","source":{"kind":"arxiv","id":"2211.07309","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2211.07309","created_at":"2026-07-05T06:04:35Z"},{"alias_kind":"arxiv_version","alias_value":"2211.07309v2","created_at":"2026-07-05T06:04:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2211.07309","created_at":"2026-07-05T06:04:35Z"},{"alias_kind":"pith_short_12","alias_value":"L4FMEIWOSGGG","created_at":"2026-07-05T06:04:35Z"},{"alias_kind":"pith_short_16","alias_value":"L4FMEIWOSGGG5CLC","created_at":"2026-07-05T06:04:35Z"},{"alias_kind":"pith_short_8","alias_value":"L4FMEIWO","created_at":"2026-07-05T06:04:35Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:L4FMEIWOSGGG5CLC4L6KL6EJAT","target":"record","payload":{"canonical_record":{"source":{"id":"2211.07309","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-11-14T12:48:00Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"f3b231b4c9aaf5883f4f5caff58e0a3f80ab00b7cc7edf84c91d0fee82f6e971","abstract_canon_sha256":"f1c7ade312989f31bd34761df578f8f9cdbe27b6a0f12ef528407dbd9d0b4be6"},"schema_version":"1.0"},"canonical_sha256":"5f0ac222ce918c6e8962e2fca5f88904fe46ece13116cc472bfc52b556cf3784","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:04:35.283788Z","signature_b64":"8ckbiSuoQFAf8Lj8uqEn1BJC9lBCcNhwZFGqsqTNG/9ktz4W9iwbxmsuBu7EM/U4fN3TuvBxSb/atKCQQY/DCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5f0ac222ce918c6e8962e2fca5f88904fe46ece13116cc472bfc52b556cf3784","last_reissued_at":"2026-07-05T06:04:35.283375Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:04:35.283375Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2211.07309","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":"2026-07-05T06:04:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DxSI7xIBu2R4su4W8P6sY1wiT5aN1A31SoZj8WKAPCuF1A+scAGCRKWv/UUT6WlXrPUI5BaY6rma9fuqmxnZAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-16T14:14:35.771182Z"},"content_sha256":"5ed85b54ac052bce695263c147dafb8f35294fb201c823cb02b6cfae5791a436","schema_version":"1.0","event_id":"sha256:5ed85b54ac052bce695263c147dafb8f35294fb201c823cb02b6cfae5791a436"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:L4FMEIWOSGGG5CLC4L6KL6EJAT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Tuning and Implementation Variants of Discrete-Time ADRC","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Gernot Herbst, Rafal Madonski","submitted_at":"2022-11-14T12:48:00Z","abstract_excerpt":"Practical implementations of active disturbance rejection control (ADRC) will almost always take place in discretized form. Since applications may have quite different needs regarding their discrete-time controllers, this article summarizes and extends the available set of ADRC implementations to provide a suitable variant for as many as possible use cases. In doing so, the gap between quasi-continuous and discrete-time controller tuning is being closed for applications with low sampling frequencies. The main contribution of this article is the derivation of three different discrete-time imple"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2211.07309","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/2211.07309/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":"2026-07-05T06:04:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Chx8PgDOSWgAvsmOggg3PHYpr6mnQQYXB8grK1Q+U6obVyhZhZ5mS9tIZzotNKjkJqw7esd+YglUc5ikHqNPBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-16T14:14:35.771585Z"},"content_sha256":"086927082be1e36a7042a79c1d632eeefca69ee5655c496664f6343af9e77a27","schema_version":"1.0","event_id":"sha256:086927082be1e36a7042a79c1d632eeefca69ee5655c496664f6343af9e77a27"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/L4FMEIWOSGGG5CLC4L6KL6EJAT/bundle.json","state_url":"https://pith.science/pith/L4FMEIWOSGGG5CLC4L6KL6EJAT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/L4FMEIWOSGGG5CLC4L6KL6EJAT/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":"2026-07-16T14:14:35Z","links":{"resolver":"https://pith.science/pith/L4FMEIWOSGGG5CLC4L6KL6EJAT","bundle":"https://pith.science/pith/L4FMEIWOSGGG5CLC4L6KL6EJAT/bundle.json","state":"https://pith.science/pith/L4FMEIWOSGGG5CLC4L6KL6EJAT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/L4FMEIWOSGGG5CLC4L6KL6EJAT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:L4FMEIWOSGGG5CLC4L6KL6EJAT","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":"f1c7ade312989f31bd34761df578f8f9cdbe27b6a0f12ef528407dbd9d0b4be6","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-11-14T12:48:00Z","title_canon_sha256":"f3b231b4c9aaf5883f4f5caff58e0a3f80ab00b7cc7edf84c91d0fee82f6e971"},"schema_version":"1.0","source":{"id":"2211.07309","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2211.07309","created_at":"2026-07-05T06:04:35Z"},{"alias_kind":"arxiv_version","alias_value":"2211.07309v2","created_at":"2026-07-05T06:04:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2211.07309","created_at":"2026-07-05T06:04:35Z"},{"alias_kind":"pith_short_12","alias_value":"L4FMEIWOSGGG","created_at":"2026-07-05T06:04:35Z"},{"alias_kind":"pith_short_16","alias_value":"L4FMEIWOSGGG5CLC","created_at":"2026-07-05T06:04:35Z"},{"alias_kind":"pith_short_8","alias_value":"L4FMEIWO","created_at":"2026-07-05T06:04:35Z"}],"graph_snapshots":[{"event_id":"sha256:086927082be1e36a7042a79c1d632eeefca69ee5655c496664f6343af9e77a27","target":"graph","created_at":"2026-07-05T06:04:35Z","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/2211.07309/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Practical implementations of active disturbance rejection control (ADRC) will almost always take place in discretized form. Since applications may have quite different needs regarding their discrete-time controllers, this article summarizes and extends the available set of ADRC implementations to provide a suitable variant for as many as possible use cases. In doing so, the gap between quasi-continuous and discrete-time controller tuning is being closed for applications with low sampling frequencies. The main contribution of this article is the derivation of three different discrete-time imple","authors_text":"Gernot Herbst, Rafal Madonski","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-11-14T12:48:00Z","title":"Tuning and Implementation Variants of Discrete-Time ADRC"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2211.07309","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":"sha256:5ed85b54ac052bce695263c147dafb8f35294fb201c823cb02b6cfae5791a436","target":"record","created_at":"2026-07-05T06:04:35Z","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":"f1c7ade312989f31bd34761df578f8f9cdbe27b6a0f12ef528407dbd9d0b4be6","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-11-14T12:48:00Z","title_canon_sha256":"f3b231b4c9aaf5883f4f5caff58e0a3f80ab00b7cc7edf84c91d0fee82f6e971"},"schema_version":"1.0","source":{"id":"2211.07309","kind":"arxiv","version":2}},"canonical_sha256":"5f0ac222ce918c6e8962e2fca5f88904fe46ece13116cc472bfc52b556cf3784","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5f0ac222ce918c6e8962e2fca5f88904fe46ece13116cc472bfc52b556cf3784","first_computed_at":"2026-07-05T06:04:35.283375Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:04:35.283375Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"8ckbiSuoQFAf8Lj8uqEn1BJC9lBCcNhwZFGqsqTNG/9ktz4W9iwbxmsuBu7EM/U4fN3TuvBxSb/atKCQQY/DCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:04:35.283788Z","signed_message":"canonical_sha256_bytes"},"source_id":"2211.07309","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5ed85b54ac052bce695263c147dafb8f35294fb201c823cb02b6cfae5791a436","sha256:086927082be1e36a7042a79c1d632eeefca69ee5655c496664f6343af9e77a27"],"state_sha256":"d1fdf8938339fc2f85e9c1d339784166e90c84d6f83675d6cf8ff7dd75f791c0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ofDoI1Uht4Tc+RlDGePDvIMco5ITJ6TsueOysd8c89iMGLx4CjsjhyKhExJLfw65sXyMnN9rZVgbq5rIkEXLBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-16T14:14:35.774193Z","bundle_sha256":"9c171c067567c85b472d1e155b581d791c0f48c097b5699d604776e08f187ea7"}}