In LTI systems with moral hazard, the optimal incentive payment after a fixed horizon is given by a likelihood-ratio hypothesis test between the two controller choices.
Algorithm as 155: The distribution of a linear combina- tion of chi-squared random variables
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Moral Hazard in LTI Dynamics: A Hypothesis Testing Approach
In LTI systems with moral hazard, the optimal incentive payment after a fixed horizon is given by a likelihood-ratio hypothesis test between the two controller choices.