{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:MP4X6BXMKZS6T2I7UHNFUPQBYT","short_pith_number":"pith:MP4X6BXM","schema_version":"1.0","canonical_sha256":"63f97f06ec5665e9e91fa1da5a3e01c4f3995e7c110712c6518382e97508511a","source":{"kind":"arxiv","id":"2206.03802","version":2},"attestation_state":"computed","paper":{"title":"Motion control with optimal nonlinear damping: from theory to experiment","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Michael Ruderman","submitted_at":"2022-06-08T10:59:16Z","abstract_excerpt":"Optimal nonlinear damping control was recently introduced for the second-order SISO systems, showing some advantages over a classical PD feedback controller. This paper summarizes the main theoretical developments and properties of the optimal nonlinear damping controller and demonstrates, for the first time, its practical experimental evaluation. An extended analysis and application to more realistic (than solely the double-integrator) motion systems are also given in the theoretical part of the paper. As comparative linear feedback controller, a PD one is taken, with the single tunable gain "},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2206.03802","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-06-08T10:59:16Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"707467a6a8b55ce3985f47906edd08c75d60c1455d79d28a4996f2488372530c","abstract_canon_sha256":"651bc821e100b6a662b1be6d494d8fa8fc1201916490d71eede9ce98784f51ca"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:46:38.360434Z","signature_b64":"Q+ONOJi5ULM6K+R09IwwKXPOP8NmCIqpJGMbJ42mGL6pA/aH/qS0FBEcykEcL0qvozTa2KhchDXZc/MCTixsAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"63f97f06ec5665e9e91fa1da5a3e01c4f3995e7c110712c6518382e97508511a","last_reissued_at":"2026-07-05T04:46:38.359913Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:46:38.359913Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Motion control with optimal nonlinear damping: from theory to experiment","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Michael Ruderman","submitted_at":"2022-06-08T10:59:16Z","abstract_excerpt":"Optimal nonlinear damping control was recently introduced for the second-order SISO systems, showing some advantages over a classical PD feedback controller. This paper summarizes the main theoretical developments and properties of the optimal nonlinear damping controller and demonstrates, for the first time, its practical experimental evaluation. An extended analysis and application to more realistic (than solely the double-integrator) motion systems are also given in the theoretical part of the paper. As comparative linear feedback controller, a PD one is taken, with the single tunable gain "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.03802","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/2206.03802/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2206.03802","created_at":"2026-07-05T04:46:38.359967+00:00"},{"alias_kind":"arxiv_version","alias_value":"2206.03802v2","created_at":"2026-07-05T04:46:38.359967+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.03802","created_at":"2026-07-05T04:46:38.359967+00:00"},{"alias_kind":"pith_short_12","alias_value":"MP4X6BXMKZS6","created_at":"2026-07-05T04:46:38.359967+00:00"},{"alias_kind":"pith_short_16","alias_value":"MP4X6BXMKZS6T2I7","created_at":"2026-07-05T04:46:38.359967+00:00"},{"alias_kind":"pith_short_8","alias_value":"MP4X6BXM","created_at":"2026-07-05T04:46:38.359967+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/MP4X6BXMKZS6T2I7UHNFUPQBYT","json":"https://pith.science/pith/MP4X6BXMKZS6T2I7UHNFUPQBYT.json","graph_json":"https://pith.science/api/pith-number/MP4X6BXMKZS6T2I7UHNFUPQBYT/graph.json","events_json":"https://pith.science/api/pith-number/MP4X6BXMKZS6T2I7UHNFUPQBYT/events.json","paper":"https://pith.science/paper/MP4X6BXM"},"agent_actions":{"view_html":"https://pith.science/pith/MP4X6BXMKZS6T2I7UHNFUPQBYT","download_json":"https://pith.science/pith/MP4X6BXMKZS6T2I7UHNFUPQBYT.json","view_paper":"https://pith.science/paper/MP4X6BXM","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2206.03802&json=true","fetch_graph":"https://pith.science/api/pith-number/MP4X6BXMKZS6T2I7UHNFUPQBYT/graph.json","fetch_events":"https://pith.science/api/pith-number/MP4X6BXMKZS6T2I7UHNFUPQBYT/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/MP4X6BXMKZS6T2I7UHNFUPQBYT/action/timestamp_anchor","attest_storage":"https://pith.science/pith/MP4X6BXMKZS6T2I7UHNFUPQBYT/action/storage_attestation","attest_author":"https://pith.science/pith/MP4X6BXMKZS6T2I7UHNFUPQBYT/action/author_attestation","sign_citation":"https://pith.science/pith/MP4X6BXMKZS6T2I7UHNFUPQBYT/action/citation_signature","submit_replication":"https://pith.science/pith/MP4X6BXMKZS6T2I7UHNFUPQBYT/action/replication_record"}},"created_at":"2026-07-05T04:46:38.359967+00:00","updated_at":"2026-07-05T04:46:38.359967+00:00"}