{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2013:PNEWHDU4SM354BWIAWZBB2VM3Z","short_pith_number":"pith:PNEWHDU4","canonical_record":{"source":{"id":"1303.3181","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2013-03-13T15:01:23Z","cross_cats_sorted":[],"title_canon_sha256":"fe690cf214ce7c6863af98998ba38305046d2281689b9e5d077e51568afe7d0a","abstract_canon_sha256":"2cb67686a591b8aa5e02cc75f7e1c2b852633a3f7946da6ccf73f20f3fa2b37a"},"schema_version":"1.0"},"canonical_sha256":"7b49638e9c9337de06c805b210eaacde7675b5a35bb1093f0cdf9c0cb9635381","source":{"kind":"arxiv","id":"1303.3181","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1303.3181","created_at":"2026-05-18T03:30:56Z"},{"alias_kind":"arxiv_version","alias_value":"1303.3181v1","created_at":"2026-05-18T03:30:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1303.3181","created_at":"2026-05-18T03:30:56Z"},{"alias_kind":"pith_short_12","alias_value":"PNEWHDU4SM35","created_at":"2026-05-18T12:27:54Z"},{"alias_kind":"pith_short_16","alias_value":"PNEWHDU4SM354BWI","created_at":"2026-05-18T12:27:54Z"},{"alias_kind":"pith_short_8","alias_value":"PNEWHDU4","created_at":"2026-05-18T12:27:54Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2013:PNEWHDU4SM354BWIAWZBB2VM3Z","target":"record","payload":{"canonical_record":{"source":{"id":"1303.3181","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2013-03-13T15:01:23Z","cross_cats_sorted":[],"title_canon_sha256":"fe690cf214ce7c6863af98998ba38305046d2281689b9e5d077e51568afe7d0a","abstract_canon_sha256":"2cb67686a591b8aa5e02cc75f7e1c2b852633a3f7946da6ccf73f20f3fa2b37a"},"schema_version":"1.0"},"canonical_sha256":"7b49638e9c9337de06c805b210eaacde7675b5a35bb1093f0cdf9c0cb9635381","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:30:56.436967Z","signature_b64":"MrVCUVLpSpK7LbAEgyVhFcMtSp2mBha4LuAHrFCqTRssgAugokQOJOSkJElIYtEAJheHlX/mWnb0LE+ZiXVQBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7b49638e9c9337de06c805b210eaacde7675b5a35bb1093f0cdf9c0cb9635381","last_reissued_at":"2026-05-18T03:30:56.436267Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:30:56.436267Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1303.3181","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":"2026-05-18T03:30:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xvB0uKcaL9dKAvAs+R7gVnDo5aBwkPzchpaNiRBCNhI3UscAiG6m19fpAufk6IDNMEJ9pGsfmu0mud6/2ZsCCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T19:55:16.560084Z"},"content_sha256":"3f62b8e8af7bc2e334dfaadfc3d3b4c92d1f640bf309ca7609b8c8cf120a6bd6","schema_version":"1.0","event_id":"sha256:3f62b8e8af7bc2e334dfaadfc3d3b4c92d1f640bf309ca7609b8c8cf120a6bd6"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2013:PNEWHDU4SM354BWIAWZBB2VM3Z","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"On Optimal Input Design for Feed-forward Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Bo Wahlberg, Per H\\\"agg","submitted_at":"2013-03-13T15:01:23Z","abstract_excerpt":"This paper considers optimal input design when the intended use of the identified model is to construct a feed-forward controller based on measurable disturbances. The objective is to find a minimum power excitation signal to be used in system identification experiment, such that the corresponding model-based feed-forward controller guarantees, with a given probability, that the variance of the output signal is within given specifications. To start with, some low order model problems are analytically solved and fundamental properties of the optimal input signal solution are presented. The opti"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1303.3181","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":"2026-05-18T03:30:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nF6SJZ/9xTrRFbU2T/rqkCIdFmz3kJJgl/ilySCpuGRmsrOEu0qk6yGuCUDg5wuhQr3I9kNHG6hkGD+SyKCsDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T19:55:16.560796Z"},"content_sha256":"b3ac5d3f32a5ef58f72870d7e7b86479a804c0b78e14d728c212317593f126e4","schema_version":"1.0","event_id":"sha256:b3ac5d3f32a5ef58f72870d7e7b86479a804c0b78e14d728c212317593f126e4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PNEWHDU4SM354BWIAWZBB2VM3Z/bundle.json","state_url":"https://pith.science/pith/PNEWHDU4SM354BWIAWZBB2VM3Z/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PNEWHDU4SM354BWIAWZBB2VM3Z/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":"2026-06-11T19:55:16Z","links":{"resolver":"https://pith.science/pith/PNEWHDU4SM354BWIAWZBB2VM3Z","bundle":"https://pith.science/pith/PNEWHDU4SM354BWIAWZBB2VM3Z/bundle.json","state":"https://pith.science/pith/PNEWHDU4SM354BWIAWZBB2VM3Z/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PNEWHDU4SM354BWIAWZBB2VM3Z/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2013:PNEWHDU4SM354BWIAWZBB2VM3Z","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":"2cb67686a591b8aa5e02cc75f7e1c2b852633a3f7946da6ccf73f20f3fa2b37a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2013-03-13T15:01:23Z","title_canon_sha256":"fe690cf214ce7c6863af98998ba38305046d2281689b9e5d077e51568afe7d0a"},"schema_version":"1.0","source":{"id":"1303.3181","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1303.3181","created_at":"2026-05-18T03:30:56Z"},{"alias_kind":"arxiv_version","alias_value":"1303.3181v1","created_at":"2026-05-18T03:30:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1303.3181","created_at":"2026-05-18T03:30:56Z"},{"alias_kind":"pith_short_12","alias_value":"PNEWHDU4SM35","created_at":"2026-05-18T12:27:54Z"},{"alias_kind":"pith_short_16","alias_value":"PNEWHDU4SM354BWI","created_at":"2026-05-18T12:27:54Z"},{"alias_kind":"pith_short_8","alias_value":"PNEWHDU4","created_at":"2026-05-18T12:27:54Z"}],"graph_snapshots":[{"event_id":"sha256:b3ac5d3f32a5ef58f72870d7e7b86479a804c0b78e14d728c212317593f126e4","target":"graph","created_at":"2026-05-18T03:30:56Z","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":"This paper considers optimal input design when the intended use of the identified model is to construct a feed-forward controller based on measurable disturbances. The objective is to find a minimum power excitation signal to be used in system identification experiment, such that the corresponding model-based feed-forward controller guarantees, with a given probability, that the variance of the output signal is within given specifications. To start with, some low order model problems are analytically solved and fundamental properties of the optimal input signal solution are presented. The opti","authors_text":"Bo Wahlberg, Per H\\\"agg","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2013-03-13T15:01:23Z","title":"On Optimal Input Design for Feed-forward Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1303.3181","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":"sha256:3f62b8e8af7bc2e334dfaadfc3d3b4c92d1f640bf309ca7609b8c8cf120a6bd6","target":"record","created_at":"2026-05-18T03:30:56Z","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":"2cb67686a591b8aa5e02cc75f7e1c2b852633a3f7946da6ccf73f20f3fa2b37a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2013-03-13T15:01:23Z","title_canon_sha256":"fe690cf214ce7c6863af98998ba38305046d2281689b9e5d077e51568afe7d0a"},"schema_version":"1.0","source":{"id":"1303.3181","kind":"arxiv","version":1}},"canonical_sha256":"7b49638e9c9337de06c805b210eaacde7675b5a35bb1093f0cdf9c0cb9635381","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7b49638e9c9337de06c805b210eaacde7675b5a35bb1093f0cdf9c0cb9635381","first_computed_at":"2026-05-18T03:30:56.436267Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:30:56.436267Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MrVCUVLpSpK7LbAEgyVhFcMtSp2mBha4LuAHrFCqTRssgAugokQOJOSkJElIYtEAJheHlX/mWnb0LE+ZiXVQBQ==","signature_status":"signed_v1","signed_at":"2026-05-18T03:30:56.436967Z","signed_message":"canonical_sha256_bytes"},"source_id":"1303.3181","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3f62b8e8af7bc2e334dfaadfc3d3b4c92d1f640bf309ca7609b8c8cf120a6bd6","sha256:b3ac5d3f32a5ef58f72870d7e7b86479a804c0b78e14d728c212317593f126e4"],"state_sha256":"d01190189884043a3d6f280c988cd7b6cb1be347f9606639d3503a10b56619f5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gta5I80WEe8ZoZlfNFXZAoQpkro0KHsfPn0xJKsG3lHXWoLRJJIliopCp6m2XRm8bpn/GjACDLZDcNEZUEqZAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-11T19:55:16.566019Z","bundle_sha256":"9ce6cedfc9d948b6b6b34384568bd9de8cfb80427bfca9e9bf0b52262f09fa33"}}