Nonlinear certainty equivalence breaks because estimation errors structurally couple into control dynamics, and an estimation-aware feedback law restores up to 55% stability margin in high-speed quadrotor flight.
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Revisiting Certainty Equivalence: The Structural Coupling Between Estimation and Control in Underactuated Nonlinear Systems
Nonlinear certainty equivalence breaks because estimation errors structurally couple into control dynamics, and an estimation-aware feedback law restores up to 55% stability margin in high-speed quadrotor flight.