### Abstract

This paper introduces, in precise mathematical terms, two properties (named, certainty equivalence and generalized certainty equivalence) that nonlinear minimax controller problems might possess. The certainty equivalence is a generalization of the one introduced earlier in [2] and [3], which applies to problems where the `worst-case disturbance' may not be unique (but the worst-case state trajectory is). The generalized certainty equivalence, on the other hand, extends this to accommodate nonunique worst-case state trajectories, and leads to the construction of controllers that guarantee a bounded upper value for the underlying game. The paper also shows that for a large class of games (and under certain conditions) certainty-equivalent (as well as generalized certainty-equivalent) controllers admit (infinite-dimensional) estimator (Kalman-filter) structures, where the estimator gain depends on the state of the estimator. These results are then applied to the nonlinear minimax filtering problem, which is treated here as a special case of the general control problem.

Original language | English (US) |
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Pages (from-to) | 184-189 |

Number of pages | 6 |

Journal | Proceedings of the IEEE Conference on Decision and Control |

Volume | 1 |

State | Published - Dec 1 1993 |

Event | Proceedings of the 32nd Conference on Decision and Control - San Antonio, TX, USA Duration: Dec 15 1993 → Dec 15 1993 |

### ASJC Scopus subject areas

- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization

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## Cite this

^{∞}-control and filtering.

*Proceedings of the IEEE Conference on Decision and Control*,

*1*, 184-189.