DYNAMIC PROGRAMMING ON RECURSIVE REWARD SYSTEMS

Dynamic programming (DP) has been introduced by R. Bellman [2] as an important technique to solve non-linear programming problems in which a sequence of decisions has to be chosen in an optimal manner. Bellman, in his book, proposed "Principle of Optimality" to show that th e determination of an optimal policy can be reduced to the solution of an optimality equation, i. e., a functional equation that should be satisfied by an optimal return. Although Principle of Optimality is a proposition which needs mathematical reasoning, his justification for the principle was not in a precise mathematical form. For this reason, the scope of cost structure to which the principle is applicable has been left unexplained. Afterward, G. L. Nemhauser [9] gave a sufficient condition for the cost structure in order that an optimality equation holds true. His condition is that the cost function should have both a separability property and a monotonicity property. Nemhauser did not make explicit the relation between the effectiveness of Bellman's principle and the justification for an optimality equation — the relation is no more trivial under his condition. In this paper we shall be concerned with the optimization of finite-stage sequential decision processes. We shall give rigorous proofs for the justification of optimality equations and for the effectiveness of optimality principles with two meanings , without assuming the existence of maximum values of returns. Our condition is that the cost function should have a recursiveness property, a monotonicity property and a Lipschitz condition. Our recursiveness is essentially same as the separability in Nemhauser sense. Our monotonicity has two senses : one is a wide sense, and the other a strict sense. The monotonicity properties in the wide and the strict senses, together with the recursiveness and the Lipschitz condition, induce optimality principles in a weak and a strong senses, respectively. Bellman's Principle of Optimality is well to be identified, in our terms, a principle in the strong sense. Our principle in the weak sense has not been introduced in other literatures as far as the authors know. If we assume the existence of maximum values of returns like Nemhauser did, then the Lipschitz condition can be suppressed from hypotheses in our arguments. In this paper we treat both deterministic and stochastic cases. Section 2 is