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Author

A. Katriniok

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Preprint Nov 2026

Policy Iteration over Terminal Cost Functions: From LQR to MPC

Policy iteration is a classical method for successively improving control policies in optimal control and reinforcement learning. In this paper, we propose a policy iteration framework that refines receding-horizon control (RHC) and model predictive control (MPC) policies online by iteratively updating the terminal cos...

T. Baltussen, Nathan P. Lawrence, A. Katriniok et al. · 0 citations

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