{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:SIQXAFMFG5GGAMFG7QRICAF2UH","short_pith_number":"pith:SIQXAFMF","canonical_record":{"source":{"id":"1811.07732","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-11-16T16:15:11Z","cross_cats_sorted":[],"title_canon_sha256":"388261762137922a9ecb57bc250e5459969485bef3ac82d21ab5329821f3c9e0","abstract_canon_sha256":"34895424ad28239c3eea115ac5370a363370dd95b80b35a3abfd78cb15dea184"},"schema_version":"1.0"},"canonical_sha256":"9221701585374c6030a6fc228100baa1d4e323def65fe2042df1e630c8143dcd","source":{"kind":"arxiv","id":"1811.07732","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1811.07732","created_at":"2026-05-18T00:00:23Z"},{"alias_kind":"arxiv_version","alias_value":"1811.07732v1","created_at":"2026-05-18T00:00:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1811.07732","created_at":"2026-05-18T00:00:23Z"},{"alias_kind":"pith_short_12","alias_value":"SIQXAFMFG5GG","created_at":"2026-05-18T12:32:53Z"},{"alias_kind":"pith_short_16","alias_value":"SIQXAFMFG5GGAMFG","created_at":"2026-05-18T12:32:53Z"},{"alias_kind":"pith_short_8","alias_value":"SIQXAFMF","created_at":"2026-05-18T12:32:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:SIQXAFMFG5GGAMFG7QRICAF2UH","target":"record","payload":{"canonical_record":{"source":{"id":"1811.07732","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-11-16T16:15:11Z","cross_cats_sorted":[],"title_canon_sha256":"388261762137922a9ecb57bc250e5459969485bef3ac82d21ab5329821f3c9e0","abstract_canon_sha256":"34895424ad28239c3eea115ac5370a363370dd95b80b35a3abfd78cb15dea184"},"schema_version":"1.0"},"canonical_sha256":"9221701585374c6030a6fc228100baa1d4e323def65fe2042df1e630c8143dcd","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:00:23.588661Z","signature_b64":"ZxOVpwxBe11VjsBXahn55epVeJ+GZwjz9VnM2VAYzUdvE/ISPHQ1PZwy1xYpjS60NEgcir0AKFWFZEK380sEAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9221701585374c6030a6fc228100baa1d4e323def65fe2042df1e630c8143dcd","last_reissued_at":"2026-05-18T00:00:23.588087Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:00:23.588087Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1811.07732","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":"2026-05-18T00:00:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"D0qpWYd1tB9YnZnj39WamoOJINAlxpNXnLMWK7DpEfImIhwkpFpTFJiO3PefWou2lvCfubzSqT+1HDW6I93wCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T12:36:29.236810Z"},"content_sha256":"1b9431f455fcde4a8325f89f62eab25d8ad0e9b70b54b90b2f7bbd166822da64","schema_version":"1.0","event_id":"sha256:1b9431f455fcde4a8325f89f62eab25d8ad0e9b70b54b90b2f7bbd166822da64"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:SIQXAFMFG5GGAMFG7QRICAF2UH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Sensorless Control of the Levitated Ball","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Alexey Bobtsov, Alexey Vedyakov, Anton Pyrkin, Romeo Ortega","submitted_at":"2018-11-16T16:15:11Z","abstract_excerpt":"One of the most widely studied dynamical systems in nonlinear control theory is the levitated ball. Several full-state feedback controllers that ensure asymptotic regulation of the ball position have been reported in the literature. However, to the best of our knowledge, the design of a stabilizing law measuring only the current and the voltage - so-called sensorless control - is conspicuous by its absence. Besides its unquestionable theoretical interest, the high cost and poor reliability of position sensors for magnetic levitated systems, makes the problem of great practical application. Our"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1811.07732","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":"2026-05-18T00:00:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"B/f5wTZF6VnZDu7lwP1vyy8SfDu09B18tlHYkGoeqO+hMSAg7tfQBafE+fVmIrGrDHhd+DVA5KUpbw5CFGj9Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T12:36:29.237336Z"},"content_sha256":"6a8839a3105c5e9d76b4a0297902694b5e2228f3a9178ac05a4cd43af33fc189","schema_version":"1.0","event_id":"sha256:6a8839a3105c5e9d76b4a0297902694b5e2228f3a9178ac05a4cd43af33fc189"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SIQXAFMFG5GGAMFG7QRICAF2UH/bundle.json","state_url":"https://pith.science/pith/SIQXAFMFG5GGAMFG7QRICAF2UH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SIQXAFMFG5GGAMFG7QRICAF2UH/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":"2026-05-31T12:36:29Z","links":{"resolver":"https://pith.science/pith/SIQXAFMFG5GGAMFG7QRICAF2UH","bundle":"https://pith.science/pith/SIQXAFMFG5GGAMFG7QRICAF2UH/bundle.json","state":"https://pith.science/pith/SIQXAFMFG5GGAMFG7QRICAF2UH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SIQXAFMFG5GGAMFG7QRICAF2UH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:SIQXAFMFG5GGAMFG7QRICAF2UH","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":"34895424ad28239c3eea115ac5370a363370dd95b80b35a3abfd78cb15dea184","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-11-16T16:15:11Z","title_canon_sha256":"388261762137922a9ecb57bc250e5459969485bef3ac82d21ab5329821f3c9e0"},"schema_version":"1.0","source":{"id":"1811.07732","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1811.07732","created_at":"2026-05-18T00:00:23Z"},{"alias_kind":"arxiv_version","alias_value":"1811.07732v1","created_at":"2026-05-18T00:00:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1811.07732","created_at":"2026-05-18T00:00:23Z"},{"alias_kind":"pith_short_12","alias_value":"SIQXAFMFG5GG","created_at":"2026-05-18T12:32:53Z"},{"alias_kind":"pith_short_16","alias_value":"SIQXAFMFG5GGAMFG","created_at":"2026-05-18T12:32:53Z"},{"alias_kind":"pith_short_8","alias_value":"SIQXAFMF","created_at":"2026-05-18T12:32:53Z"}],"graph_snapshots":[{"event_id":"sha256:6a8839a3105c5e9d76b4a0297902694b5e2228f3a9178ac05a4cd43af33fc189","target":"graph","created_at":"2026-05-18T00:00:23Z","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":"One of the most widely studied dynamical systems in nonlinear control theory is the levitated ball. Several full-state feedback controllers that ensure asymptotic regulation of the ball position have been reported in the literature. However, to the best of our knowledge, the design of a stabilizing law measuring only the current and the voltage - so-called sensorless control - is conspicuous by its absence. Besides its unquestionable theoretical interest, the high cost and poor reliability of position sensors for magnetic levitated systems, makes the problem of great practical application. Our","authors_text":"Alexey Bobtsov, Alexey Vedyakov, Anton Pyrkin, Romeo Ortega","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-11-16T16:15:11Z","title":"Sensorless Control of the Levitated Ball"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1811.07732","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":"sha256:1b9431f455fcde4a8325f89f62eab25d8ad0e9b70b54b90b2f7bbd166822da64","target":"record","created_at":"2026-05-18T00:00:23Z","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":"34895424ad28239c3eea115ac5370a363370dd95b80b35a3abfd78cb15dea184","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-11-16T16:15:11Z","title_canon_sha256":"388261762137922a9ecb57bc250e5459969485bef3ac82d21ab5329821f3c9e0"},"schema_version":"1.0","source":{"id":"1811.07732","kind":"arxiv","version":1}},"canonical_sha256":"9221701585374c6030a6fc228100baa1d4e323def65fe2042df1e630c8143dcd","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9221701585374c6030a6fc228100baa1d4e323def65fe2042df1e630c8143dcd","first_computed_at":"2026-05-18T00:00:23.588087Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:00:23.588087Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ZxOVpwxBe11VjsBXahn55epVeJ+GZwjz9VnM2VAYzUdvE/ISPHQ1PZwy1xYpjS60NEgcir0AKFWFZEK380sEAg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:00:23.588661Z","signed_message":"canonical_sha256_bytes"},"source_id":"1811.07732","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1b9431f455fcde4a8325f89f62eab25d8ad0e9b70b54b90b2f7bbd166822da64","sha256:6a8839a3105c5e9d76b4a0297902694b5e2228f3a9178ac05a4cd43af33fc189"],"state_sha256":"a64891f604d641a2c525224add31b9678682887c297666704745c09bfdae539b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QOEXsuXXxTEhEal4jn07GmCDuqSn1uN6mtqMprBnMD+7dhwrI3O/lkZrNCYdwoDlH9//ubXMQPMiFbuiKPs+Cw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-31T12:36:29.240736Z","bundle_sha256":"387d4ee6080b590de2b5122bb4e450bc44397715953660f86a79a850c52b2a6a"}}