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====Discrete space: Linear programming formulation====
If the state space and action space are finite, we could use linear programming to find the optimal policy, which was one of the earliest approaches applied. Here we only consider the ergodic model, which means our continuous-time MDP becomes an [[Ergodicity|ergodic]] continuous-time Markov chain under a stationary [[policy]]. Under this assumption, although the decision maker can make a decision at any time
:<math>g\geq R(i,a)+\sum_{j\in S}q(j\mid i,a)h(j) \quad \forall i \in S \text{ and } a \in A(i)</math>
If there exists a function <math>h</math>, then <math>\bar V^*</math> will be the smallest <math>g</math> satisfying the above equation. In order to find <math>\bar V^*</math>, we could use the following linear programming model:
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