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.
A nonlinear incentive strategy for multi- stage Stackelberg games with partial information
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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.