An observable scalar state variable evolves as $x_{t+1}=x_{t}+u_{t}, t=0,1, \ldots$ Let controls $u_{0}, u_{1}, \ldots$ be determined by a policy $\pi$ and define

$$C_{s}\left(\pi, x_{0}\right)=\sum_{t=0}^{s-1}\left(x_{t}^{2}+2 x_{t} u_{t}+7 u_{t}^{2}\right) \quad \text { and } \quad C_{s}\left(x_{0}\right)=\inf _{\pi} C_{s}\left(\pi, x_{0}\right)$$

Show that it is possible to express $C_{s}\left(x_{0}\right)$ in terms of $\Pi_{s}$, which satisfies the recurrence

$$\Pi_{s}=\frac{6\left(1+\Pi_{s-1}\right)}{7+\Pi_{s-1}}, \quad s=1,2, \ldots$$

with $\Pi_{0}=0$.

Deduce that $C_{\infty}\left(x_{0}\right) \geqslant 2 x_{0}^{2} .\left[C_{\infty}\left(x_{0}\right)\right.$ is defined as $\left.\lim _{s \rightarrow \infty} C_{s}\left(x_{0}\right) .\right]$

By considering the policy $\pi^{*}$ which takes $u_{t}=-(1 / 3)(2 / 3)^{t} x_{0}, t=0,1, \ldots$, show that $C_{\infty}\left(x_{0}\right)=2 x_{0}^{2}$.

Give an alternative description of $\pi^{*}$ in closed-loop form.