{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:SHWRW7IKH4QABR4LC4BHMMDDET","short_pith_number":"pith:SHWRW7IK","canonical_record":{"source":{"id":"2201.04550","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-01-12T16:44:26Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"f3420cd5c8e5f34fa98848cd10a5d8f0e9c1c666f00cb879c1450dde60716cb5","abstract_canon_sha256":"1ce88ac97db7fe9b6ec5e3c133ca951f11efe8f2b6b452b8308ec364d8b7e4a4"},"schema_version":"1.0"},"canonical_sha256":"91ed1b7d0a3f2000c78b170276306324d5a62640661c509e1562eb1bb9905b37","source":{"kind":"arxiv","id":"2201.04550","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2201.04550","created_at":"2026-07-05T10:08:58Z"},{"alias_kind":"arxiv_version","alias_value":"2201.04550v2","created_at":"2026-07-05T10:08:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2201.04550","created_at":"2026-07-05T10:08:58Z"},{"alias_kind":"pith_short_12","alias_value":"SHWRW7IKH4QA","created_at":"2026-07-05T10:08:58Z"},{"alias_kind":"pith_short_16","alias_value":"SHWRW7IKH4QABR4L","created_at":"2026-07-05T10:08:58Z"},{"alias_kind":"pith_short_8","alias_value":"SHWRW7IK","created_at":"2026-07-05T10:08:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:SHWRW7IKH4QABR4LC4BHMMDDET","target":"record","payload":{"canonical_record":{"source":{"id":"2201.04550","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-01-12T16:44:26Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"f3420cd5c8e5f34fa98848cd10a5d8f0e9c1c666f00cb879c1450dde60716cb5","abstract_canon_sha256":"1ce88ac97db7fe9b6ec5e3c133ca951f11efe8f2b6b452b8308ec364d8b7e4a4"},"schema_version":"1.0"},"canonical_sha256":"91ed1b7d0a3f2000c78b170276306324d5a62640661c509e1562eb1bb9905b37","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:08:58.415639Z","signature_b64":"riP22y0DCAa/ZVBMiNFaT7UegF6og/4cDprjY0KmGxQ/aOvvNEwiKPMc6OpoWbvaXJ0uUm+Pg2QAiXtDRP2fBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"91ed1b7d0a3f2000c78b170276306324d5a62640661c509e1562eb1bb9905b37","last_reissued_at":"2026-07-05T10:08:58.415245Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:08:58.415245Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2201.04550","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":"2026-07-05T10:08:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2LjiqzbGIolX4vXpD+y7kFMch1J8Lotsz1cT/Sqccud8MlS/Ve4tGRloOZKKnHIvOlfs5ZmwuAaBeDEJi7B0Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T13:19:08.919131Z"},"content_sha256":"8dcca5b34fd58c91c5b4d2575d8bdaf6368b5d94e693f83847937529246a5b80","schema_version":"1.0","event_id":"sha256:8dcca5b34fd58c91c5b4d2575d8bdaf6368b5d94e693f83847937529246a5b80"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:SHWRW7IKH4QABR4LC4BHMMDDET","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Feedback linearisation of mechanical systems using data-driven models","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Jean-Philippe No\\\"el, Koen Classens, Merijn Floren, Tom Oomen","submitted_at":"2022-01-12T16:44:26Z","abstract_excerpt":"Linearising the dynamics of nonlinear mechanical systems is an important and open research area. A common approach is feedback linearisation, which is a nonlinear control method that transforms the input-output response of a nonlinear system into an equivalent linear one. The main problem with feedback linearisation is that it requires an accurate first-principles model of the system, which are typically hard to obtain. In this paper, we design an alternative control approach that exploits data-driven models to linearise the input-output response of nonlinear mechanical systems. Specifically, "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2201.04550","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/2201.04550/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":"2026-07-05T10:08:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fjw51Uj5r3mSkEdQC0t4OtwBMrhHHNlaU11w1kVqIRbKHl8vMeWMsEUxW4J6dc8GDHGu+LGh4All2A7zVkB/Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T13:19:08.919816Z"},"content_sha256":"5fbf4b96239e9c9c76fc912f6ab9dea61cf2ed0e4ba531c39f23cb4eefb5b81c","schema_version":"1.0","event_id":"sha256:5fbf4b96239e9c9c76fc912f6ab9dea61cf2ed0e4ba531c39f23cb4eefb5b81c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SHWRW7IKH4QABR4LC4BHMMDDET/bundle.json","state_url":"https://pith.science/pith/SHWRW7IKH4QABR4LC4BHMMDDET/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SHWRW7IKH4QABR4LC4BHMMDDET/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":"2026-08-22T13:19:08Z","links":{"resolver":"https://pith.science/pith/SHWRW7IKH4QABR4LC4BHMMDDET","bundle":"https://pith.science/pith/SHWRW7IKH4QABR4LC4BHMMDDET/bundle.json","state":"https://pith.science/pith/SHWRW7IKH4QABR4LC4BHMMDDET/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SHWRW7IKH4QABR4LC4BHMMDDET/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:SHWRW7IKH4QABR4LC4BHMMDDET","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":"1ce88ac97db7fe9b6ec5e3c133ca951f11efe8f2b6b452b8308ec364d8b7e4a4","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-01-12T16:44:26Z","title_canon_sha256":"f3420cd5c8e5f34fa98848cd10a5d8f0e9c1c666f00cb879c1450dde60716cb5"},"schema_version":"1.0","source":{"id":"2201.04550","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2201.04550","created_at":"2026-07-05T10:08:58Z"},{"alias_kind":"arxiv_version","alias_value":"2201.04550v2","created_at":"2026-07-05T10:08:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2201.04550","created_at":"2026-07-05T10:08:58Z"},{"alias_kind":"pith_short_12","alias_value":"SHWRW7IKH4QA","created_at":"2026-07-05T10:08:58Z"},{"alias_kind":"pith_short_16","alias_value":"SHWRW7IKH4QABR4L","created_at":"2026-07-05T10:08:58Z"},{"alias_kind":"pith_short_8","alias_value":"SHWRW7IK","created_at":"2026-07-05T10:08:58Z"}],"graph_snapshots":[{"event_id":"sha256:5fbf4b96239e9c9c76fc912f6ab9dea61cf2ed0e4ba531c39f23cb4eefb5b81c","target":"graph","created_at":"2026-07-05T10:08:58Z","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/2201.04550/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Linearising the dynamics of nonlinear mechanical systems is an important and open research area. A common approach is feedback linearisation, which is a nonlinear control method that transforms the input-output response of a nonlinear system into an equivalent linear one. The main problem with feedback linearisation is that it requires an accurate first-principles model of the system, which are typically hard to obtain. In this paper, we design an alternative control approach that exploits data-driven models to linearise the input-output response of nonlinear mechanical systems. Specifically, ","authors_text":"Jean-Philippe No\\\"el, Koen Classens, Merijn Floren, Tom Oomen","cross_cats":["cs.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-01-12T16:44:26Z","title":"Feedback linearisation of mechanical systems using data-driven models"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2201.04550","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":"sha256:8dcca5b34fd58c91c5b4d2575d8bdaf6368b5d94e693f83847937529246a5b80","target":"record","created_at":"2026-07-05T10:08:58Z","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":"1ce88ac97db7fe9b6ec5e3c133ca951f11efe8f2b6b452b8308ec364d8b7e4a4","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-01-12T16:44:26Z","title_canon_sha256":"f3420cd5c8e5f34fa98848cd10a5d8f0e9c1c666f00cb879c1450dde60716cb5"},"schema_version":"1.0","source":{"id":"2201.04550","kind":"arxiv","version":2}},"canonical_sha256":"91ed1b7d0a3f2000c78b170276306324d5a62640661c509e1562eb1bb9905b37","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"91ed1b7d0a3f2000c78b170276306324d5a62640661c509e1562eb1bb9905b37","first_computed_at":"2026-07-05T10:08:58.415245Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:08:58.415245Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"riP22y0DCAa/ZVBMiNFaT7UegF6og/4cDprjY0KmGxQ/aOvvNEwiKPMc6OpoWbvaXJ0uUm+Pg2QAiXtDRP2fBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:08:58.415639Z","signed_message":"canonical_sha256_bytes"},"source_id":"2201.04550","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8dcca5b34fd58c91c5b4d2575d8bdaf6368b5d94e693f83847937529246a5b80","sha256:5fbf4b96239e9c9c76fc912f6ab9dea61cf2ed0e4ba531c39f23cb4eefb5b81c"],"state_sha256":"f9dd473f88d7a5cebe6150b7ee3d0ec45a55b01cb450078b4cda529ec2c56bbe"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Yeme3hfQsPl6u9kIRrJle6SomjQK9rHYmKxqW9dUpItdCiIgnHzL2f5DEYpExyb2QG68EPFP+8rpgnsu/RmkBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T13:19:08.926365Z","bundle_sha256":"9eedded748ca8f81163e5a7734b818c01091a77be020b12661133a62b445448d"}}