{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:TYJDHT6DKLQITTCKI4INBVPDAV","short_pith_number":"pith:TYJDHT6D","canonical_record":{"source":{"id":"1612.07287","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-12-21T19:40:16Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"14317015aedfb3c89f9d5d2a96dc6289ae922cc80c28eca3a03571b5d5d9be4d","abstract_canon_sha256":"a4dd760275640687b1ad0e1524d9ef22042305d208bc2bd8b6957cbf88e941d3"},"schema_version":"1.0"},"canonical_sha256":"9e1233cfc352e089cc4a4710d0d5e30545c3c891350a8e1764323895196dbec2","source":{"kind":"arxiv","id":"1612.07287","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1612.07287","created_at":"2026-05-18T00:54:14Z"},{"alias_kind":"arxiv_version","alias_value":"1612.07287v1","created_at":"2026-05-18T00:54:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1612.07287","created_at":"2026-05-18T00:54:14Z"},{"alias_kind":"pith_short_12","alias_value":"TYJDHT6DKLQI","created_at":"2026-05-18T12:30:46Z"},{"alias_kind":"pith_short_16","alias_value":"TYJDHT6DKLQITTCK","created_at":"2026-05-18T12:30:46Z"},{"alias_kind":"pith_short_8","alias_value":"TYJDHT6D","created_at":"2026-05-18T12:30:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:TYJDHT6DKLQITTCKI4INBVPDAV","target":"record","payload":{"canonical_record":{"source":{"id":"1612.07287","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-12-21T19:40:16Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"14317015aedfb3c89f9d5d2a96dc6289ae922cc80c28eca3a03571b5d5d9be4d","abstract_canon_sha256":"a4dd760275640687b1ad0e1524d9ef22042305d208bc2bd8b6957cbf88e941d3"},"schema_version":"1.0"},"canonical_sha256":"9e1233cfc352e089cc4a4710d0d5e30545c3c891350a8e1764323895196dbec2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:54:14.324594Z","signature_b64":"OlKa41UdWTVRheW9c05oi/Y8uSCU22rDGIqQggJ1KQuSqu6RPqFdCwQoWvlNfs/boNE2N65jxC1zYt6qaGqjCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9e1233cfc352e089cc4a4710d0d5e30545c3c891350a8e1764323895196dbec2","last_reissued_at":"2026-05-18T00:54:14.324139Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:54:14.324139Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1612.07287","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":"2026-05-18T00:54:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Q5Il+v04GjDDQHv3oR63KwIyeQLTU8II0GNwb7g0srEoPPwEraUhsiufaK3/WtQCNxu+OPr9hlaIpJLFqU7hAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T23:11:37.970611Z"},"content_sha256":"1ae4284e8e199802bbe9f568ea94dfd5be7375932b2aa748342a4c70d18fcde9","schema_version":"1.0","event_id":"sha256:1ae4284e8e199802bbe9f568ea94dfd5be7375932b2aa748342a4c70d18fcde9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:TYJDHT6DKLQITTCKI4INBVPDAV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Real-Time Minimization of Average Error in the Presence of Uncertainty and Convexification of Feasible Sets","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"math.OC","authors_text":"Andrey Bernstein, Jean-Yves Le Boudec, Niek J. Bouman","submitted_at":"2016-12-21T19:40:16Z","abstract_excerpt":"We consider a two-level discrete-time control framework with real-time constraints where a central controller issues setpoints to be implemented by local controllers. The local controllers implement the setpoints with some approximation and advertize a prediction of their constraints to the central controller. The local controllers might not be able to implement the setpoint exactly, due to prediction errors or because the central controller convexifies the problem for tractability. In this paper, we propose to compensate for these mismatches at the level of the local controller by using a var"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1612.07287","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":"2026-05-18T00:54:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"F+UOLXjjr1Oz7YjXCmNkGoFwxjddU3LXrTrS+53bRqzHM/yDeduYbzYBvTFfqMqmLZS+FlAXT4AtwFlpP29pAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T23:11:37.970955Z"},"content_sha256":"37708b91902ff910ec9acdeee3c3741d150338711854431951523332999e327f","schema_version":"1.0","event_id":"sha256:37708b91902ff910ec9acdeee3c3741d150338711854431951523332999e327f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TYJDHT6DKLQITTCKI4INBVPDAV/bundle.json","state_url":"https://pith.science/pith/TYJDHT6DKLQITTCKI4INBVPDAV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TYJDHT6DKLQITTCKI4INBVPDAV/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":"2026-06-03T23:11:37Z","links":{"resolver":"https://pith.science/pith/TYJDHT6DKLQITTCKI4INBVPDAV","bundle":"https://pith.science/pith/TYJDHT6DKLQITTCKI4INBVPDAV/bundle.json","state":"https://pith.science/pith/TYJDHT6DKLQITTCKI4INBVPDAV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TYJDHT6DKLQITTCKI4INBVPDAV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:TYJDHT6DKLQITTCKI4INBVPDAV","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":"a4dd760275640687b1ad0e1524d9ef22042305d208bc2bd8b6957cbf88e941d3","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-12-21T19:40:16Z","title_canon_sha256":"14317015aedfb3c89f9d5d2a96dc6289ae922cc80c28eca3a03571b5d5d9be4d"},"schema_version":"1.0","source":{"id":"1612.07287","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1612.07287","created_at":"2026-05-18T00:54:14Z"},{"alias_kind":"arxiv_version","alias_value":"1612.07287v1","created_at":"2026-05-18T00:54:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1612.07287","created_at":"2026-05-18T00:54:14Z"},{"alias_kind":"pith_short_12","alias_value":"TYJDHT6DKLQI","created_at":"2026-05-18T12:30:46Z"},{"alias_kind":"pith_short_16","alias_value":"TYJDHT6DKLQITTCK","created_at":"2026-05-18T12:30:46Z"},{"alias_kind":"pith_short_8","alias_value":"TYJDHT6D","created_at":"2026-05-18T12:30:46Z"}],"graph_snapshots":[{"event_id":"sha256:37708b91902ff910ec9acdeee3c3741d150338711854431951523332999e327f","target":"graph","created_at":"2026-05-18T00:54:14Z","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":"We consider a two-level discrete-time control framework with real-time constraints where a central controller issues setpoints to be implemented by local controllers. The local controllers implement the setpoints with some approximation and advertize a prediction of their constraints to the central controller. The local controllers might not be able to implement the setpoint exactly, due to prediction errors or because the central controller convexifies the problem for tractability. In this paper, we propose to compensate for these mismatches at the level of the local controller by using a var","authors_text":"Andrey Bernstein, Jean-Yves Le Boudec, Niek J. Bouman","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-12-21T19:40:16Z","title":"Real-Time Minimization of Average Error in the Presence of Uncertainty and Convexification of Feasible Sets"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1612.07287","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":"sha256:1ae4284e8e199802bbe9f568ea94dfd5be7375932b2aa748342a4c70d18fcde9","target":"record","created_at":"2026-05-18T00:54:14Z","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":"a4dd760275640687b1ad0e1524d9ef22042305d208bc2bd8b6957cbf88e941d3","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-12-21T19:40:16Z","title_canon_sha256":"14317015aedfb3c89f9d5d2a96dc6289ae922cc80c28eca3a03571b5d5d9be4d"},"schema_version":"1.0","source":{"id":"1612.07287","kind":"arxiv","version":1}},"canonical_sha256":"9e1233cfc352e089cc4a4710d0d5e30545c3c891350a8e1764323895196dbec2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9e1233cfc352e089cc4a4710d0d5e30545c3c891350a8e1764323895196dbec2","first_computed_at":"2026-05-18T00:54:14.324139Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:54:14.324139Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"OlKa41UdWTVRheW9c05oi/Y8uSCU22rDGIqQggJ1KQuSqu6RPqFdCwQoWvlNfs/boNE2N65jxC1zYt6qaGqjCg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:54:14.324594Z","signed_message":"canonical_sha256_bytes"},"source_id":"1612.07287","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1ae4284e8e199802bbe9f568ea94dfd5be7375932b2aa748342a4c70d18fcde9","sha256:37708b91902ff910ec9acdeee3c3741d150338711854431951523332999e327f"],"state_sha256":"79e5e0aa1025a5db21439bafdeea29f448c9437c0d020043ea72e6a25c7e403d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/cfBGkggXofPHD9hmotQFfNH7j+fLjhP+DzAq3emr3cN/Mg+tbdh3Nbax4heDxgII8pJlg+xCwFxwds3B8uHCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-03T23:11:37.972876Z","bundle_sha256":"e34c8b742437fc115efecc5433894f491b25cb72ee40cacd4a7a14edb7ca4f99"}}