I attended the 51st annual Allerton Conference on Communication, Control, and Computing in Monticello, IL. On the right is a photo of fellow Berkeley students and postdocs in front of the Allerton house. At the conference, I presented a paper entitled “A separation principle for decentralized state-feedback optimal control”. The paper describes a new separation principle for a class of fully decentralized LQR problems. The class considered have a curious property that is not present in centralized problems: the optimal controller has a state dimension that increases as the exogenous disturbances become more correlated. Slides are available here.