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The authors study a closed-loop control system with feedback transmitted over a noisy discrete memoryless channel. They design encoder - controller pairs that jointly optimize the sensor measurement quantization, protection against channel errors, and control. The design goal is to minimize an expected linear quadratic cost over a finite horizon. As a result of deriving optimality criteria for this problem, they present new results on the validity of the separation principle subject to certain assumptions. More precisely, they show that the certainty equivalence controller is optimal when the encoder is optimal and has full side-information about the symbols received at the controller.
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