{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2014:YVZYWFR2IE52WMCGDTMFBBMRBG","short_pith_number":"pith:YVZYWFR2","canonical_record":{"source":{"id":"1403.5364","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-03-21T05:05:25Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"b2844da47ca5600b6704f727700f6a77e40fbb6ac2c37674dffeab359e48cac0","abstract_canon_sha256":"17a8c969fd65adadc5d53273f89e276172de66bb7e998fd8d572f48eeb131b47"},"schema_version":"1.0"},"canonical_sha256":"c5738b163a413bab30461cd850859109b88ec3203853b2b825b91363624fc76b","source":{"kind":"arxiv","id":"1403.5364","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1403.5364","created_at":"2026-05-18T02:41:53Z"},{"alias_kind":"arxiv_version","alias_value":"1403.5364v2","created_at":"2026-05-18T02:41:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1403.5364","created_at":"2026-05-18T02:41:53Z"},{"alias_kind":"pith_short_12","alias_value":"YVZYWFR2IE52","created_at":"2026-05-18T12:28:59Z"},{"alias_kind":"pith_short_16","alias_value":"YVZYWFR2IE52WMCG","created_at":"2026-05-18T12:28:59Z"},{"alias_kind":"pith_short_8","alias_value":"YVZYWFR2","created_at":"2026-05-18T12:28:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2014:YVZYWFR2IE52WMCGDTMFBBMRBG","target":"record","payload":{"canonical_record":{"source":{"id":"1403.5364","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-03-21T05:05:25Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"b2844da47ca5600b6704f727700f6a77e40fbb6ac2c37674dffeab359e48cac0","abstract_canon_sha256":"17a8c969fd65adadc5d53273f89e276172de66bb7e998fd8d572f48eeb131b47"},"schema_version":"1.0"},"canonical_sha256":"c5738b163a413bab30461cd850859109b88ec3203853b2b825b91363624fc76b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:41:53.198945Z","signature_b64":"ptPUmi8bN1AmOCiR+Ay8peYzbC/AnF3cq36SiiaKqFIvKa2+KLzj2bi3FiQPewcn0pJvBHSP/RrtAK8roMJ3DQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c5738b163a413bab30461cd850859109b88ec3203853b2b825b91363624fc76b","last_reissued_at":"2026-05-18T02:41:53.198284Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:41:53.198284Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1403.5364","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":"2026-05-18T02:41:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7aUH/yF5+37foDHvOuJEyeSGyNEoAL9CwItY4AFXPOxdfTgGxCfzP+arWP1wbC26R4fe0m4pVev8yMB6ojsdBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T07:03:48.384239Z"},"content_sha256":"bbaf94cf148fe5066698d291eb509de597ee1ac8d1dfce14fe50e72ee148bbe4","schema_version":"1.0","event_id":"sha256:bbaf94cf148fe5066698d291eb509de597ee1ac8d1dfce14fe50e72ee148bbe4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2014:YVZYWFR2IE52WMCGDTMFBBMRBG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Control Contraction Metrics, Robust Control and Observer Duality","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"math.OC","authors_text":"Ian R. Manchester, Jean-Jacques E. Slotine","submitted_at":"2014-03-21T05:05:25Z","abstract_excerpt":"This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to which it is applicable. We prove converse results for mechanical systems and feedback-linearizable systems. Next we consider robust control, and give a simple construction of a controller guaranteeing an L2-gain condition, and discuss connections to nonlinear H-infinity control. Finally, we discuss a \"duality\" result between nonlinear stabilization problems a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1403.5364","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":""},"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":"2026-05-18T02:41:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VQHXCFVPkak5A8G5JvmqlrhTXuWtIczoJBTUtTxALpCvveQ0VMt8eP/1rztL4uhc29C2WB0xiaRLGUZGQes9Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T07:03:48.384961Z"},"content_sha256":"35aff7e673943c2499725f16338754f28cd13d7ed335e46cff83969dcb445481","schema_version":"1.0","event_id":"sha256:35aff7e673943c2499725f16338754f28cd13d7ed335e46cff83969dcb445481"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YVZYWFR2IE52WMCGDTMFBBMRBG/bundle.json","state_url":"https://pith.science/pith/YVZYWFR2IE52WMCGDTMFBBMRBG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YVZYWFR2IE52WMCGDTMFBBMRBG/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":"2026-05-25T07:03:48Z","links":{"resolver":"https://pith.science/pith/YVZYWFR2IE52WMCGDTMFBBMRBG","bundle":"https://pith.science/pith/YVZYWFR2IE52WMCGDTMFBBMRBG/bundle.json","state":"https://pith.science/pith/YVZYWFR2IE52WMCGDTMFBBMRBG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YVZYWFR2IE52WMCGDTMFBBMRBG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2014:YVZYWFR2IE52WMCGDTMFBBMRBG","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":"17a8c969fd65adadc5d53273f89e276172de66bb7e998fd8d572f48eeb131b47","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-03-21T05:05:25Z","title_canon_sha256":"b2844da47ca5600b6704f727700f6a77e40fbb6ac2c37674dffeab359e48cac0"},"schema_version":"1.0","source":{"id":"1403.5364","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1403.5364","created_at":"2026-05-18T02:41:53Z"},{"alias_kind":"arxiv_version","alias_value":"1403.5364v2","created_at":"2026-05-18T02:41:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1403.5364","created_at":"2026-05-18T02:41:53Z"},{"alias_kind":"pith_short_12","alias_value":"YVZYWFR2IE52","created_at":"2026-05-18T12:28:59Z"},{"alias_kind":"pith_short_16","alias_value":"YVZYWFR2IE52WMCG","created_at":"2026-05-18T12:28:59Z"},{"alias_kind":"pith_short_8","alias_value":"YVZYWFR2","created_at":"2026-05-18T12:28:59Z"}],"graph_snapshots":[{"event_id":"sha256:35aff7e673943c2499725f16338754f28cd13d7ed335e46cff83969dcb445481","target":"graph","created_at":"2026-05-18T02:41:53Z","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":"This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to which it is applicable. We prove converse results for mechanical systems and feedback-linearizable systems. Next we consider robust control, and give a simple construction of a controller guaranteeing an L2-gain condition, and discuss connections to nonlinear H-infinity control. Finally, we discuss a \"duality\" result between nonlinear stabilization problems a","authors_text":"Ian R. Manchester, Jean-Jacques E. Slotine","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-03-21T05:05:25Z","title":"Control Contraction Metrics, Robust Control and Observer Duality"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1403.5364","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:bbaf94cf148fe5066698d291eb509de597ee1ac8d1dfce14fe50e72ee148bbe4","target":"record","created_at":"2026-05-18T02:41:53Z","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":"17a8c969fd65adadc5d53273f89e276172de66bb7e998fd8d572f48eeb131b47","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-03-21T05:05:25Z","title_canon_sha256":"b2844da47ca5600b6704f727700f6a77e40fbb6ac2c37674dffeab359e48cac0"},"schema_version":"1.0","source":{"id":"1403.5364","kind":"arxiv","version":2}},"canonical_sha256":"c5738b163a413bab30461cd850859109b88ec3203853b2b825b91363624fc76b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c5738b163a413bab30461cd850859109b88ec3203853b2b825b91363624fc76b","first_computed_at":"2026-05-18T02:41:53.198284Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:41:53.198284Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ptPUmi8bN1AmOCiR+Ay8peYzbC/AnF3cq36SiiaKqFIvKa2+KLzj2bi3FiQPewcn0pJvBHSP/RrtAK8roMJ3DQ==","signature_status":"signed_v1","signed_at":"2026-05-18T02:41:53.198945Z","signed_message":"canonical_sha256_bytes"},"source_id":"1403.5364","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bbaf94cf148fe5066698d291eb509de597ee1ac8d1dfce14fe50e72ee148bbe4","sha256:35aff7e673943c2499725f16338754f28cd13d7ed335e46cff83969dcb445481"],"state_sha256":"1f5e17b85a047777b3c801429e952ab6654dabc02de6c39cad15777bbdb0146e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"d/Na1K9S1+uE4CAbgSsCK69na/CrbddSPv4ZvBOdWM2Z5i5T2jNWr/EgGDaJ8neEs281PvFf6aEbM/adIz9yCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-25T07:03:48.388466Z","bundle_sha256":"dfd26a3357990cea142364162b3d7036b8972847fd629c972a83252ffe274132"}}