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.
Existence and deriva- tion of optimal affine incentive schemes for Stack- elberg games with partial information: A geometric approach
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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.