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LINEAR PROGRAMMING APPROACH                   255

                Example 6.1.1 (continued) A maintenance problem
                The linear programming formulation for this problem is to minimize

                                         N−1

                                            C pi x i1 + C f x N2
                                         i=2
                subject to

                                       N−1


                         x 10 − q 11 x 10 +  x i1 + x N+1,2  = 0,
                                        i=2
                                                j

                                     x j0 + x j1 −  q ij x i0 = 0,  2 ≤ j ≤ N − 1,
                                               i=1
                                              N−1

                                        x N2 −   q iN x i0 = 0,
                                              i=1
                                           x N+1,2 − x N2 = 0,
                             N−1

                        x 10 +  (x i0 + x i1 ) + x N2 + x N+1,2 = 1,
                             i=2
                                  x 10 , x i0 , x i1 , x N2 , x N+1,2 ≥ 0.

                For the numerical data given in Table 6.4.1, this linear program has the minimal
                objective value 0.4338 and the optimal basic solution

                                                               ∗
                         x 10  = 0.5479, x ∗ 20  = 0.2740, x ∗ 30  = 0.0913, x 41  = 0.0228,
                          ∗
                                                             ∗
                          ∗
                         x 52  = 0.0320, x ∗ 62  = 0.0320 and the other x = 0.
                                                             ia
                This yields the average cost optimal policy R = (0, 0, 0, 1, 2, 2) with an average
                                                     ∗
                cost of 0.4338, in agreement with the results obtained by policy iteration.
                Linear programming and probabilistic constraints
                The linear programming formulation may often be a convenient way to handle
                Markovian decision problems with probabilistic constraints. In many practical
                applications, constraints are imposed on certain state frequencies. For example,
                in inventory problems for which shortage costs are difficult to estimate, probabilis-
                tic constraints may be placed on the probability of shortage or on the fraction of
                demand that cannot be met directly from stock on hand. Similarly, in a maintenance
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