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Stochastic control problems for a rather general class of nonlinear systems have been considered in this paper. Deterministic models for the prediction of expected performance have been presented, and it has been shown that optimal controllers designed using the models are good approximations to the true optimal controllers for the stochastic system. Some results have been presented on the use of an estimator coupled with an optimal controller based on continuous observation of the state.

Nonlinear optimal stochastic control — some approximations when the noise is small