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Author

Itzik Klein

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Jul 2026

Revisiting Certainty Equivalence: The Structural Coupling Between Estimation and Control in Underactuated Nonlinear Systems

The certainty equivalence (CE) principle underpins a wide range of control architectures by enabling the separation of estimation and control design. While this property holds for linear systems, its validity in nonlinear settings remains limited and often implicitly assumed. This paper revisits CE from a nonlinear per...

Daniel Engelsman, Itzik Klein · 0 citations

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