In the linear-quadratic case with bilinear incentives and myopic followers, the optimal fixed incentive for long horizons is independent of the follower's private cost parameter.
Aggregation and Linearity in the Provision of Intertemporal Incentives
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Optimal Functional Incentives for Control: The Linear-Quadratic Case with Bilinear Incentives
In the linear-quadratic case with bilinear incentives and myopic followers, the optimal fixed incentive for long horizons is independent of the follower's private cost parameter.