# On Minimax Optimal Dual Control for Fully Actuated Systems

arXiv: https://arxiv.org/abs/2511.22753 · HTML: https://mlsanity.com/paper/2511.22753/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 27 Nov 2025.

## Built on by (most cited first, 1 of 1)

- [Consistent Model Chasing Is Minimax Optimal: The Exact Value of Scalar Adversarial Adaptive Control under Large Parametric Uncertainty](https://mlsanity.com/paper/2608.13651/) (2026)

## Abstract (arXiv)

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.