{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:RU2GWHH3WDG7W3XUDJQD4YHWGZ","short_pith_number":"pith:RU2GWHH3","canonical_record":{"source":{"id":"1906.04679","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-06-11T16:22:29Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"3ae0dd96659bb9c9735638bd0db285c44018e5e0b3a148c236a6f2f5493c79c3","abstract_canon_sha256":"cc83e71d0587b982e8c6f417dc2bedd09c033b52519d5ce037a8df94f308bef5"},"schema_version":"1.0"},"canonical_sha256":"8d346b1cfbb0cdfb6ef41a603e60f63673a870d5179058e0e3dca2e776300a19","source":{"kind":"arxiv","id":"1906.04679","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1906.04679","created_at":"2026-07-05T02:32:30Z"},{"alias_kind":"arxiv_version","alias_value":"1906.04679v3","created_at":"2026-07-05T02:32:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1906.04679","created_at":"2026-07-05T02:32:30Z"},{"alias_kind":"pith_short_12","alias_value":"RU2GWHH3WDG7","created_at":"2026-07-05T02:32:30Z"},{"alias_kind":"pith_short_16","alias_value":"RU2GWHH3WDG7W3XU","created_at":"2026-07-05T02:32:30Z"},{"alias_kind":"pith_short_8","alias_value":"RU2GWHH3","created_at":"2026-07-05T02:32:30Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:RU2GWHH3WDG7W3XUDJQD4YHWGZ","target":"record","payload":{"canonical_record":{"source":{"id":"1906.04679","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-06-11T16:22:29Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"3ae0dd96659bb9c9735638bd0db285c44018e5e0b3a148c236a6f2f5493c79c3","abstract_canon_sha256":"cc83e71d0587b982e8c6f417dc2bedd09c033b52519d5ce037a8df94f308bef5"},"schema_version":"1.0"},"canonical_sha256":"8d346b1cfbb0cdfb6ef41a603e60f63673a870d5179058e0e3dca2e776300a19","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:32:30.973819Z","signature_b64":"s34cLMymac+Dlf4pyLXKCvUig/mULGE7d8xtsLeXM6nddLcKLArx9medyqbtv7Vijv2caroMp5dr0GViiE/OBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8d346b1cfbb0cdfb6ef41a603e60f63673a870d5179058e0e3dca2e776300a19","last_reissued_at":"2026-07-05T02:32:30.973427Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:32:30.973427Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1906.04679","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T02:32:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QxxB0NBsvxKiNKW7UPuRJeZ4PEmkmxM/8u2a8yKQ2hv1aClWKo2EGioiHewvvFbHAfsK2Pg+R7wQqFjCP9orDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T22:24:34.735038Z"},"content_sha256":"62c8b3132d4e0f9c8dbc86842ca1ff6bd0a9acc8e6673ce27f237eb55d5334cf","schema_version":"1.0","event_id":"sha256:62c8b3132d4e0f9c8dbc86842ca1ff6bd0a9acc8e6673ce27f237eb55d5334cf"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:RU2GWHH3WDG7W3XUDJQD4YHWGZ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Data-Driven Model Predictive Control with Stability and Robustness Guarantees","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Frank Allg\\\"ower, Johannes K\\\"ohler, Julian Berberich, Matthias A. M\\\"uller","submitted_at":"2019-06-11T16:22:29Z","abstract_excerpt":"We propose a robust data-driven model predictive control (MPC) scheme to control linear time-invariant (LTI) systems. The scheme uses an implicit model description based on behavioral systems theory and past measured trajectories. In particular, it does not require any prior identification step, but only an initially measured input-output trajectory as well as an upper bound on the order of the unknown system. First, we prove exponential stability of a nominal data-driven MPC scheme with terminal equality constraints in the case of no measurement noise. For bounded additive output measurement "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1906.04679","kind":"arxiv","version":3},"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/1906.04679/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":"2026-07-05T02:32:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aQoMdR/g7lMCVVF2PFf8WjO5eDwcDpg7WJ7JjFM+7FGmqz07xxO6tBJJE5A4y27BSpGFhFnalqQZjvNA6btVBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T22:24:34.735602Z"},"content_sha256":"f0512857a77adeb15ac1dfb26e94797f63dd1074c2fe61c2364840549e075a51","schema_version":"1.0","event_id":"sha256:f0512857a77adeb15ac1dfb26e94797f63dd1074c2fe61c2364840549e075a51"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/RU2GWHH3WDG7W3XUDJQD4YHWGZ/bundle.json","state_url":"https://pith.science/pith/RU2GWHH3WDG7W3XUDJQD4YHWGZ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/RU2GWHH3WDG7W3XUDJQD4YHWGZ/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":"2026-08-17T22:24:34Z","links":{"resolver":"https://pith.science/pith/RU2GWHH3WDG7W3XUDJQD4YHWGZ","bundle":"https://pith.science/pith/RU2GWHH3WDG7W3XUDJQD4YHWGZ/bundle.json","state":"https://pith.science/pith/RU2GWHH3WDG7W3XUDJQD4YHWGZ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/RU2GWHH3WDG7W3XUDJQD4YHWGZ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:RU2GWHH3WDG7W3XUDJQD4YHWGZ","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":"cc83e71d0587b982e8c6f417dc2bedd09c033b52519d5ce037a8df94f308bef5","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-06-11T16:22:29Z","title_canon_sha256":"3ae0dd96659bb9c9735638bd0db285c44018e5e0b3a148c236a6f2f5493c79c3"},"schema_version":"1.0","source":{"id":"1906.04679","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1906.04679","created_at":"2026-07-05T02:32:30Z"},{"alias_kind":"arxiv_version","alias_value":"1906.04679v3","created_at":"2026-07-05T02:32:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1906.04679","created_at":"2026-07-05T02:32:30Z"},{"alias_kind":"pith_short_12","alias_value":"RU2GWHH3WDG7","created_at":"2026-07-05T02:32:30Z"},{"alias_kind":"pith_short_16","alias_value":"RU2GWHH3WDG7W3XU","created_at":"2026-07-05T02:32:30Z"},{"alias_kind":"pith_short_8","alias_value":"RU2GWHH3","created_at":"2026-07-05T02:32:30Z"}],"graph_snapshots":[{"event_id":"sha256:f0512857a77adeb15ac1dfb26e94797f63dd1074c2fe61c2364840549e075a51","target":"graph","created_at":"2026-07-05T02:32:30Z","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/1906.04679/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose a robust data-driven model predictive control (MPC) scheme to control linear time-invariant (LTI) systems. The scheme uses an implicit model description based on behavioral systems theory and past measured trajectories. In particular, it does not require any prior identification step, but only an initially measured input-output trajectory as well as an upper bound on the order of the unknown system. First, we prove exponential stability of a nominal data-driven MPC scheme with terminal equality constraints in the case of no measurement noise. For bounded additive output measurement ","authors_text":"Frank Allg\\\"ower, Johannes K\\\"ohler, Julian Berberich, Matthias A. M\\\"uller","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-06-11T16:22:29Z","title":"Data-Driven Model Predictive Control with Stability and Robustness Guarantees"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1906.04679","kind":"arxiv","version":3},"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":"sha256:62c8b3132d4e0f9c8dbc86842ca1ff6bd0a9acc8e6673ce27f237eb55d5334cf","target":"record","created_at":"2026-07-05T02:32:30Z","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":"cc83e71d0587b982e8c6f417dc2bedd09c033b52519d5ce037a8df94f308bef5","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-06-11T16:22:29Z","title_canon_sha256":"3ae0dd96659bb9c9735638bd0db285c44018e5e0b3a148c236a6f2f5493c79c3"},"schema_version":"1.0","source":{"id":"1906.04679","kind":"arxiv","version":3}},"canonical_sha256":"8d346b1cfbb0cdfb6ef41a603e60f63673a870d5179058e0e3dca2e776300a19","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8d346b1cfbb0cdfb6ef41a603e60f63673a870d5179058e0e3dca2e776300a19","first_computed_at":"2026-07-05T02:32:30.973427Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:32:30.973427Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"s34cLMymac+Dlf4pyLXKCvUig/mULGE7d8xtsLeXM6nddLcKLArx9medyqbtv7Vijv2caroMp5dr0GViiE/OBw==","signature_status":"signed_v1","signed_at":"2026-07-05T02:32:30.973819Z","signed_message":"canonical_sha256_bytes"},"source_id":"1906.04679","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:62c8b3132d4e0f9c8dbc86842ca1ff6bd0a9acc8e6673ce27f237eb55d5334cf","sha256:f0512857a77adeb15ac1dfb26e94797f63dd1074c2fe61c2364840549e075a51"],"state_sha256":"07718b7184f98c57cf14d288a941a4e480bd51272f942b28da09bd0461c40623"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zjAW/86bc6dhO0iwGHTbJHRWkjl7uOaNLmyx/ruVNoYM7YO4HzVKvQ9m0Oz2jn8gMVLeG4OM8d7gB+nN1WjzAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-17T22:24:34.741737Z","bundle_sha256":"e48052f888d981fa242fd54ffed7a6b9511943443a2f43389262aed19f0b5b4f"}}