Nonequilibrium Thermodynamics of Feedback Control

We establish a general theory of feedback control on classical stochastic thermodynamic systems, and generalize nonequilibrium equalities such as the fluctuation theorem and the Jarzynski equality in the presence of feedback control with multiple measurements. Our results are generalizations of the previous relevant works to the situations with general measurements and multi-heat baths. The obtained equalities involve additional terms that characterize the information obtained by measurements or the efficacy of feedback control. A generalized Szilard engine and a feedback-controlled ratchet are shown to satisfy the derived equalities.