Finite receding-horizon preview of model parameters suffices for state-feedback policies to keep ℓ₂-gain performance loss below any prescribed tolerance relative to the infinite-preview baseline, under uniform controllability and observability.
On the guarantees of minimizing regret in receding horizon
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Energy-Gain Control of Time-Varying Systems: Receding Horizon Approximation
Finite receding-horizon preview of model parameters suffices for state-feedback policies to keep ℓ₂-gain performance loss below any prescribed tolerance relative to the infinite-preview baseline, under uniform controllability and observability.