### A Unifying Condition for Separable Two Player Optimal Control Problems

- J. H. Kim and S. Lall.
- Proceedings of the IEEE Conference on Decision and Control, p. 3818--3823, 2011.

We derive a simple condition under which a class of two player linear quadratic optimal control problems can be solved by two separate problems. The condition unifies most of the previously known separable two player problems, and further enables us to explicitly solve a new class of problems of which the optimal control was previously unknown. Moreover, natural interpretation of the separated problems provides better understanding of the optimal controllers' dynamics.