Competitive Control

We consider control from the perspective of competitive analysis. Unlike much prior work on learning-based control, which focuses on minimizing regret against the best controller selected in hindsight from some specific class, we focus on designing an online controller which competes against a clairvoyant offline optimal controller. A natural performance metric in this setting is competitive ratio, which is the ratio between the cost incurred by the online controller and the cost incurred by the offline optimal controller. Using operator-theoretic techniques from robust control, we derive a computationally efficient statespace description of the controller with optimal competitive ratio in both finite-horizon and infinite-horizon settings. We extend competitive control to nonlinear systems using model predictive control (MPC) and present numerical experiments which show that our competitive controller can significantly outperform standard H-2 and H-infinity controllers in the MPC setting.