{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:UTWSLH23FPU65Z5EI63RKNFNN6","short_pith_number":"pith:UTWSLH23","canonical_record":{"source":{"id":"2204.02142","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-04-05T12:06:16Z","cross_cats_sorted":["cs.SY","math.OC"],"title_canon_sha256":"d67e27b3658ce4df61df3ac9d7fa9947b1fef249ffa9098ed8fff1f35c80b6ae","abstract_canon_sha256":"215cd9ce80266e9645c75c7141b6f3bbed430340d7fd2e76c19d22c63d981960"},"schema_version":"1.0"},"canonical_sha256":"a4ed259f5b2be9eee7a447b71534ad6fab6507661faa0b69f95c9c48b25e52be","source":{"kind":"arxiv","id":"2204.02142","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.02142","created_at":"2026-07-05T05:15:59Z"},{"alias_kind":"arxiv_version","alias_value":"2204.02142v2","created_at":"2026-07-05T05:15:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.02142","created_at":"2026-07-05T05:15:59Z"},{"alias_kind":"pith_short_12","alias_value":"UTWSLH23FPU6","created_at":"2026-07-05T05:15:59Z"},{"alias_kind":"pith_short_16","alias_value":"UTWSLH23FPU65Z5E","created_at":"2026-07-05T05:15:59Z"},{"alias_kind":"pith_short_8","alias_value":"UTWSLH23","created_at":"2026-07-05T05:15:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:UTWSLH23FPU65Z5EI63RKNFNN6","target":"record","payload":{"canonical_record":{"source":{"id":"2204.02142","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-04-05T12:06:16Z","cross_cats_sorted":["cs.SY","math.OC"],"title_canon_sha256":"d67e27b3658ce4df61df3ac9d7fa9947b1fef249ffa9098ed8fff1f35c80b6ae","abstract_canon_sha256":"215cd9ce80266e9645c75c7141b6f3bbed430340d7fd2e76c19d22c63d981960"},"schema_version":"1.0"},"canonical_sha256":"a4ed259f5b2be9eee7a447b71534ad6fab6507661faa0b69f95c9c48b25e52be","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:15:59.798459Z","signature_b64":"x25RAnkxWWein0WIlgWJtT1UJtzXY/ECE40clRgR3RQGTJlarmbQsN2+JfLO8GiFDW7ErwCMLnlkUgLpc64EAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a4ed259f5b2be9eee7a447b71534ad6fab6507661faa0b69f95c9c48b25e52be","last_reissued_at":"2026-07-05T05:15:59.797955Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:15:59.797955Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2204.02142","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":"2026-07-05T05:15:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zH09sj2Xeyal/Fj2YL4+cBRpGTKQ1KwASm1jNPeYdnMYax5Ha5T2wTMwZVJwOswX+gG5F+ouWnahC9E085akBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-26T07:54:25.546021Z"},"content_sha256":"74d64cdee2062cee8099a70e0f6adc2f257944e95585d768c973ab584515214f","schema_version":"1.0","event_id":"sha256:74d64cdee2062cee8099a70e0f6adc2f257944e95585d768c973ab584515214f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:UTWSLH23FPU65Z5EI63RKNFNN6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Computationally efficient robust MPC using optimized constraint tightening","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","math.OC"],"primary_cat":"eess.SY","authors_text":"Andrea Iannelli, Anilkumar Parsi, Panagiotis Anagnostaras, Roy S. Smith","submitted_at":"2022-04-05T12:06:16Z","abstract_excerpt":"A robust model predictive control (MPC) method is presented for linear, time-invariant systems affected by bounded additive disturbances. The main contribution is the offline design of a disturbance-affine feedback gain whereby the resulting constraint tightening is minimized. This is achieved by formulating the constraint tightening problem as a convex optimization problem with the feedback term as a variable. The resulting MPC controller has the computational complexity of nominal MPC, and guarantees recursive feasibility, stability and constraint satisfaction. The advantages of the proposed"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.02142","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/2204.02142/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":"2026-07-05T05:15:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WGJR/Kt/LGY/C4lsfzk7EobJm2ivQyOXtuZ71rYWiEk2vr4GuTdyJh5Kgx6yVX9p7haBmv1Na5atcrDQomwoDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-26T07:54:25.546438Z"},"content_sha256":"90921eb073d8775556959e2ad8d053765e06d5b1da7598aa2f7272f4851d7301","schema_version":"1.0","event_id":"sha256:90921eb073d8775556959e2ad8d053765e06d5b1da7598aa2f7272f4851d7301"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UTWSLH23FPU65Z5EI63RKNFNN6/bundle.json","state_url":"https://pith.science/pith/UTWSLH23FPU65Z5EI63RKNFNN6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UTWSLH23FPU65Z5EI63RKNFNN6/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":"2026-07-26T07:54:25Z","links":{"resolver":"https://pith.science/pith/UTWSLH23FPU65Z5EI63RKNFNN6","bundle":"https://pith.science/pith/UTWSLH23FPU65Z5EI63RKNFNN6/bundle.json","state":"https://pith.science/pith/UTWSLH23FPU65Z5EI63RKNFNN6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UTWSLH23FPU65Z5EI63RKNFNN6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:UTWSLH23FPU65Z5EI63RKNFNN6","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":"215cd9ce80266e9645c75c7141b6f3bbed430340d7fd2e76c19d22c63d981960","cross_cats_sorted":["cs.SY","math.OC"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-04-05T12:06:16Z","title_canon_sha256":"d67e27b3658ce4df61df3ac9d7fa9947b1fef249ffa9098ed8fff1f35c80b6ae"},"schema_version":"1.0","source":{"id":"2204.02142","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.02142","created_at":"2026-07-05T05:15:59Z"},{"alias_kind":"arxiv_version","alias_value":"2204.02142v2","created_at":"2026-07-05T05:15:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.02142","created_at":"2026-07-05T05:15:59Z"},{"alias_kind":"pith_short_12","alias_value":"UTWSLH23FPU6","created_at":"2026-07-05T05:15:59Z"},{"alias_kind":"pith_short_16","alias_value":"UTWSLH23FPU65Z5E","created_at":"2026-07-05T05:15:59Z"},{"alias_kind":"pith_short_8","alias_value":"UTWSLH23","created_at":"2026-07-05T05:15:59Z"}],"graph_snapshots":[{"event_id":"sha256:90921eb073d8775556959e2ad8d053765e06d5b1da7598aa2f7272f4851d7301","target":"graph","created_at":"2026-07-05T05:15:59Z","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/2204.02142/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"A robust model predictive control (MPC) method is presented for linear, time-invariant systems affected by bounded additive disturbances. The main contribution is the offline design of a disturbance-affine feedback gain whereby the resulting constraint tightening is minimized. This is achieved by formulating the constraint tightening problem as a convex optimization problem with the feedback term as a variable. The resulting MPC controller has the computational complexity of nominal MPC, and guarantees recursive feasibility, stability and constraint satisfaction. The advantages of the proposed","authors_text":"Andrea Iannelli, Anilkumar Parsi, Panagiotis Anagnostaras, Roy S. Smith","cross_cats":["cs.SY","math.OC"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-04-05T12:06:16Z","title":"Computationally efficient robust MPC using optimized constraint tightening"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.02142","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":"sha256:74d64cdee2062cee8099a70e0f6adc2f257944e95585d768c973ab584515214f","target":"record","created_at":"2026-07-05T05:15:59Z","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":"215cd9ce80266e9645c75c7141b6f3bbed430340d7fd2e76c19d22c63d981960","cross_cats_sorted":["cs.SY","math.OC"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-04-05T12:06:16Z","title_canon_sha256":"d67e27b3658ce4df61df3ac9d7fa9947b1fef249ffa9098ed8fff1f35c80b6ae"},"schema_version":"1.0","source":{"id":"2204.02142","kind":"arxiv","version":2}},"canonical_sha256":"a4ed259f5b2be9eee7a447b71534ad6fab6507661faa0b69f95c9c48b25e52be","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a4ed259f5b2be9eee7a447b71534ad6fab6507661faa0b69f95c9c48b25e52be","first_computed_at":"2026-07-05T05:15:59.797955Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:15:59.797955Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"x25RAnkxWWein0WIlgWJtT1UJtzXY/ECE40clRgR3RQGTJlarmbQsN2+JfLO8GiFDW7ErwCMLnlkUgLpc64EAg==","signature_status":"signed_v1","signed_at":"2026-07-05T05:15:59.798459Z","signed_message":"canonical_sha256_bytes"},"source_id":"2204.02142","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:74d64cdee2062cee8099a70e0f6adc2f257944e95585d768c973ab584515214f","sha256:90921eb073d8775556959e2ad8d053765e06d5b1da7598aa2f7272f4851d7301"],"state_sha256":"57269069722a739f606dbb5c1437bcc987c1c608e7092e0ea6ef7511b2291a61"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+BkWQxrt+mfYIxl7qW4AEeTo6+pZ7BPhEkVDi1+CubPeVqbwErkUcSiWWY8iGK2lY66ejEc39dAdoy32oxwwDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-26T07:54:25.548625Z","bundle_sha256":"62c2b4f01d325e7585aa9cb0747dd6819a99d6eab6d864e042dcd5549edb431a"}}