A Bregman-divergence reformulation of discrete-time H∞ control yields closed-form nonlinear central controllers for strictly convex nonquadratic costs, reducing to the classical Riccati solution when costs are quadratic.
Beyond quadratic costs in lqr: Bregman divergence control,
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Beyond Quadratic Costs: A Bregman Divergence Approach to H$_\infty$ Control
A Bregman-divergence reformulation of discrete-time H∞ control yields closed-form nonlinear central controllers for strictly convex nonquadratic costs, reducing to the classical Riccati solution when costs are quadratic.