For LTI systems, the paper proves that closed-loop training data biases subspace-based predictive controllers (SPC, DeePC, gamma-DDPC), decomposes this into Subspace and Optimism Bias, and shows the Transient Predictor avoids both.
Robust data-enabled predictive control: Tractable formulations and performance guaran- tees,
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The Bias of Subspace-based Data-Driven Predictive Control
For LTI systems, the paper proves that closed-loop training data biases subspace-based predictive controllers (SPC, DeePC, gamma-DDPC), decomposes this into Subspace and Optimism Bias, and shows the Transient Predictor avoids both.