On asymptotic stability of continuous-time risk-sensitive filters with respect to initial conditions

In this paper, we consider the problem of risk-sensitive filtering for continuous-time stochastic linear Gaussian time-invariant systems. In particular, we address the problem of forgetting of initial conditions. Our results show that suboptimal risk-sensitive filters initialized with arbitrary Gaussian initial conditions asymptotically approach the optimal risk-sensitive filter for a linear Gaussian system with Gaussian but unknown initial conditions in the mean square sense at an exponential rate, provided the arbitrary initial covariance matrix results in a stabilizing solution of the (H_∞-like) Riccati equation associated with the risk-sensitive problem. More importantly, in the case of non-Gaussian initial conditions, a suboptimal risk-sensitive filter asymptotically approaches the optimal risk-sensitive filter in the mean square sense under a boundedness condition satisfied by the fourth order absolute moment of the initial non-Gaussian density and a slow growth condition satisfied by a certain Radon–Nikodym derivative.