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Sufficiently informative functions and the minimax feedback control of uncertain dynamic systems

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2 Author(s)
Bertsekas, D. ; Stanford University, Stanford, CA, USA ; Rhodes, I.B.

The problem of optimal feedback control of uncertain discrete-time dynamic systems is considered where the uncertain quantities do not have a stochastic description but instead are known to belong to given sets. The problem is converted to a sequential minimax problem and dynamic programming is suggested as a general method for its solution. The notion of a sufficiently informative function, which parallels the notion of a sufficient statistic of stochastic optimal control, is introduced, and conditions under which the optimal controller decomposes into an estimator and an actuator are identified. A limited class of problems for which this decomposition simplifies the computation and implementation of the optimal controller is delineated.

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Automatic Control, IEEE Transactions on  (Volume:18 ,  Issue: 2 )