{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:PTJEIAXQIJBOBX23TVM2SI4LSW","short_pith_number":"pith:PTJEIAXQ","canonical_record":{"source":{"id":"2305.15870","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2023-05-25T09:04:07Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"83d51e56389908ffcdd8fa33d42db2a7c4c27818cd761bac2fbaf3a8e4b8971f","abstract_canon_sha256":"54006636a6bd4504a49ee627a30268352fd9cb3e5b1239a403386a914e632b58"},"schema_version":"1.0"},"canonical_sha256":"7cd24402f04242e0df5b9d59a9238b9591a7eafd689c57359677f9d7bb0d00ea","source":{"kind":"arxiv","id":"2305.15870","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2305.15870","created_at":"2026-07-05T06:13:57Z"},{"alias_kind":"arxiv_version","alias_value":"2305.15870v1","created_at":"2026-07-05T06:13:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2305.15870","created_at":"2026-07-05T06:13:57Z"},{"alias_kind":"pith_short_12","alias_value":"PTJEIAXQIJBO","created_at":"2026-07-05T06:13:57Z"},{"alias_kind":"pith_short_16","alias_value":"PTJEIAXQIJBOBX23","created_at":"2026-07-05T06:13:57Z"},{"alias_kind":"pith_short_8","alias_value":"PTJEIAXQ","created_at":"2026-07-05T06:13:57Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:PTJEIAXQIJBOBX23TVM2SI4LSW","target":"record","payload":{"canonical_record":{"source":{"id":"2305.15870","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2023-05-25T09:04:07Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"83d51e56389908ffcdd8fa33d42db2a7c4c27818cd761bac2fbaf3a8e4b8971f","abstract_canon_sha256":"54006636a6bd4504a49ee627a30268352fd9cb3e5b1239a403386a914e632b58"},"schema_version":"1.0"},"canonical_sha256":"7cd24402f04242e0df5b9d59a9238b9591a7eafd689c57359677f9d7bb0d00ea","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:13:57.031837Z","signature_b64":"dO7cr71kFpq3D+fT+uyXXbTV8j/svzJXyHTYYCTNHsm62etV4csEOTZNLokmoJTW/Hxfn1NpAqJzHtTgqE6/Bw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7cd24402f04242e0df5b9d59a9238b9591a7eafd689c57359677f9d7bb0d00ea","last_reissued_at":"2026-07-05T06:13:57.031251Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:13:57.031251Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2305.15870","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":"2026-07-05T06:13:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AsMoezkhhUfvFfLfh6o61K3jxP8HvLrkjGAV/iIqVqRty2wQCDCvLtNy9YPTEZi4lpCezis5bY4p9tWGox5VCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T05:15:26.319949Z"},"content_sha256":"d994548a532fa6ed3e0d21599938cf52b60ccd3be293df4e0800d0f811ef83ab","schema_version":"1.0","event_id":"sha256:d994548a532fa6ed3e0d21599938cf52b60ccd3be293df4e0800d0f811ef83ab"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:PTJEIAXQIJBOBX23TVM2SI4LSW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Robust asymptotic observer of motion states with nonlinear friction","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Michael Ruderman","submitted_at":"2023-05-25T09:04:07Z","abstract_excerpt":"This paper revisits the previously proposed linear asymptotic observer of the motion state variables with nonlinear friction and provides a robust design suitable for both, transient presliding and steady-state sliding phases of the relative motion. The class of motion systems with the only measurable output displacement is considered. The reduced-order Luenberger type observer is designed based on the obtained simplified state-space representation with a time-varying system matrix. The resulted observation error dynamics proves to be robust and appropriate for all variations of the system mat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2305.15870","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/2305.15870/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":"2026-07-05T06:13:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yhpk2EXXwvisw5ChnvI7gi7WXAdUAFj2IWFxKOxiGiVoMBOtgMzOAFFg5TN6vXZZ/oV2eRQJUKK8bP3+HAFcAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T05:15:26.320453Z"},"content_sha256":"076ec41dcd7fca9d709e8dce87c16f2d05ad33c22c6052a2e52bf2beb319dcfd","schema_version":"1.0","event_id":"sha256:076ec41dcd7fca9d709e8dce87c16f2d05ad33c22c6052a2e52bf2beb319dcfd"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PTJEIAXQIJBOBX23TVM2SI4LSW/bundle.json","state_url":"https://pith.science/pith/PTJEIAXQIJBOBX23TVM2SI4LSW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PTJEIAXQIJBOBX23TVM2SI4LSW/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":"2026-08-04T05:15:26Z","links":{"resolver":"https://pith.science/pith/PTJEIAXQIJBOBX23TVM2SI4LSW","bundle":"https://pith.science/pith/PTJEIAXQIJBOBX23TVM2SI4LSW/bundle.json","state":"https://pith.science/pith/PTJEIAXQIJBOBX23TVM2SI4LSW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PTJEIAXQIJBOBX23TVM2SI4LSW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:PTJEIAXQIJBOBX23TVM2SI4LSW","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":"54006636a6bd4504a49ee627a30268352fd9cb3e5b1239a403386a914e632b58","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2023-05-25T09:04:07Z","title_canon_sha256":"83d51e56389908ffcdd8fa33d42db2a7c4c27818cd761bac2fbaf3a8e4b8971f"},"schema_version":"1.0","source":{"id":"2305.15870","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2305.15870","created_at":"2026-07-05T06:13:57Z"},{"alias_kind":"arxiv_version","alias_value":"2305.15870v1","created_at":"2026-07-05T06:13:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2305.15870","created_at":"2026-07-05T06:13:57Z"},{"alias_kind":"pith_short_12","alias_value":"PTJEIAXQIJBO","created_at":"2026-07-05T06:13:57Z"},{"alias_kind":"pith_short_16","alias_value":"PTJEIAXQIJBOBX23","created_at":"2026-07-05T06:13:57Z"},{"alias_kind":"pith_short_8","alias_value":"PTJEIAXQ","created_at":"2026-07-05T06:13:57Z"}],"graph_snapshots":[{"event_id":"sha256:076ec41dcd7fca9d709e8dce87c16f2d05ad33c22c6052a2e52bf2beb319dcfd","target":"graph","created_at":"2026-07-05T06:13:57Z","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/2305.15870/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper revisits the previously proposed linear asymptotic observer of the motion state variables with nonlinear friction and provides a robust design suitable for both, transient presliding and steady-state sliding phases of the relative motion. The class of motion systems with the only measurable output displacement is considered. The reduced-order Luenberger type observer is designed based on the obtained simplified state-space representation with a time-varying system matrix. The resulted observation error dynamics proves to be robust and appropriate for all variations of the system mat","authors_text":"Michael Ruderman","cross_cats":["cs.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2023-05-25T09:04:07Z","title":"Robust asymptotic observer of motion states with nonlinear friction"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2305.15870","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:d994548a532fa6ed3e0d21599938cf52b60ccd3be293df4e0800d0f811ef83ab","target":"record","created_at":"2026-07-05T06:13:57Z","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":"54006636a6bd4504a49ee627a30268352fd9cb3e5b1239a403386a914e632b58","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2023-05-25T09:04:07Z","title_canon_sha256":"83d51e56389908ffcdd8fa33d42db2a7c4c27818cd761bac2fbaf3a8e4b8971f"},"schema_version":"1.0","source":{"id":"2305.15870","kind":"arxiv","version":1}},"canonical_sha256":"7cd24402f04242e0df5b9d59a9238b9591a7eafd689c57359677f9d7bb0d00ea","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7cd24402f04242e0df5b9d59a9238b9591a7eafd689c57359677f9d7bb0d00ea","first_computed_at":"2026-07-05T06:13:57.031251Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:13:57.031251Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"dO7cr71kFpq3D+fT+uyXXbTV8j/svzJXyHTYYCTNHsm62etV4csEOTZNLokmoJTW/Hxfn1NpAqJzHtTgqE6/Bw==","signature_status":"signed_v1","signed_at":"2026-07-05T06:13:57.031837Z","signed_message":"canonical_sha256_bytes"},"source_id":"2305.15870","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d994548a532fa6ed3e0d21599938cf52b60ccd3be293df4e0800d0f811ef83ab","sha256:076ec41dcd7fca9d709e8dce87c16f2d05ad33c22c6052a2e52bf2beb319dcfd"],"state_sha256":"09a9b711489a43e7a49f7467401319f8e641621dbfc175b4e0144798f2a7f6e0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ODXBLzXdjx5eWN6jfmUs9hHLoYpwXe95SHbSnkSDaHVXKNrVVVHPKcoiqEEdQZvSaaMCdaPc3urpecuxbDDMAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T05:15:26.325127Z","bundle_sha256":"57f2df1584fa8720834621a850c09ef21f65125589b87fc498a1d41c6fba1cec"}}