Stochastic differential games with constrained state estimators

Attention is given to stochastic differential games in which the two controllers have available only noise-corrupted output measurements. Consideration is restricted to the case in which the system is linear, the cost functional quadratic, and the noises corrupting the output measurements are independent, white, and Gaussian. A solution to this problem is presented under the constraint that each controller is limited to a linear dynamic system of fixed dimension for the generation of his estimate of the system state. The optimal controls are shown to satisfy a separation theorem, the optimal estimators are shown to be closely related to Kalman filters, and the various terms in the optimal cost are shown to be readily assignable to the appropriate contributing sources.