Prediction power, the control-cost improvement from optimally using predictions, has a closed form in LTV LQR and a positive lower bound for general costs, and it is not determined by prediction accuracy.
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Maximizing the Value of Predictions in Control: Accuracy Is Not Enough
Prediction power, the control-cost improvement from optimally using predictions, has a closed form in LTV LQR and a positive lower bound for general costs, and it is not determined by prediction accuracy.