Optimal Covariance Steering for Discrete-Time Linear Stochastic Systems

In this paper, we study the optimal control problem for steering the state covariance of a discrete-time linear stochastic system over a finite time horizon. First, we establish the existence and uniqueness of the optimal control law for a quadratic cost function. Then, we show the separation of the optimal mean and the covariance steering problems. We also develop efficient computational methods for solving for the optimal control law, which is identified as the solution to a semi-definite program. The effectiveness of the proposed approach is demonstrated through numerical examples. In the process, we also obtain some novel theoretical results for a matrix Riccati difference equation, which may be of independent interest.