{"ID":2836124,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.22753","arxiv_id":"2511.22753","title":"On Minimax Optimal Dual Control for Fully Actuated Systems","abstract":"A multi-variable adaptive controller is derived as the explicit solution to a minimax dynamic game. The minimizing player selects the control action as a function of past state measurements and inputs. The maximizing player selects disturbances and model parameters for the underlying linear time-invariant dynamics. This leads to a Bellman equation that can be solved explicitly for the case with unitary B-matrix known up to a sign and no input penalty. The minimizing policy is a dual controller that optimizes the tradeoff between exploration and exploitation.","short_abstract":"A multi-variable adaptive controller is derived as the explicit solution to a minimax dynamic game. The minimizing player selects the control action as a function of past state measurements and inputs. The maximizing player selects disturbances and model parameters for the underlying linear time-invariant dynamics. Thi...","url_abs":"https://arxiv.org/abs/2511.22753","url_pdf":"https://arxiv.org/pdf/2511.22753v1","authors":"[\"Anders Rantzer\"]","published":"2025-11-27T21:00:02Z","proceeding":"math.OC","tasks":"[\"math.OC\"]","methods":"[\"Large Language Model\",\"LoRA\"]","has_code":false}