Feedback Nash equilibria of scalar discrete-time LQ games correspond to intersections of 2^N auxiliary curves with a horizontal line, giving explicit conditions on the number of equilibria.
(2005), LQ dynamic optimization and dif- ferential games, John Wiley & Sons
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Feedback Nash equilibria for scalar N-player linear quadratic dynamic games
Feedback Nash equilibria of scalar discrete-time LQ games correspond to intersections of 2^N auxiliary curves with a horizontal line, giving explicit conditions on the number of equilibria.