#### Infinite-horizon Risk-constrained Linear Quadratic Regulator with Average Cost

##### Feiran Zhao, Keyou You, Tamer Basar

The behaviour of a stochastic dynamical system may be largely influenced by those low-probability, yet extreme events. To address such occurrences, this paper proposes an infinite-horizon risk-constrained Linear Quadratic Regulator (LQR) framework with time-average cost. In addition to the standard LQR objective, the average one-stage predictive variance of the state penalty is constrained to lie within a user-specified level. By leveraging the duality, its optimal solution is first shown to be stationary and affine in the state, i.e., $u(x,\lambda^*) = -K(\lambda^*)x + l(\lambda^*)$, where $\lambda^*$ is an optimal multiplier, used to address the risk constraint. Then, we establish the stability of the resulting closed-loop system. Furthermore, we propose a primal-dual method with sublinear convergence rate to find an optimal policy $u(x,\lambda^*)$. Finally, a numerical example is provided to demonstrate the effectiveness of the proposed framework and the primal-dual method.

arrow_drop_up