“…3 Without a concern for robustness, Kydland and Prescott (1980), Hansen, Epple, and Roberds (1985), Miller andSalmon (1985a, 1985b), Sargent (1987), Currie and Levine (1987), Pearlman, Currie, and Levine (1986), Pearlman (1992), Woodford (1998), King and Wolman (1999), and Marcet and Marimon (1999) have solved Stackelberg or Ramsey problems using Lagrangian formulations. Pearlman, Currie, and Levine (1986), Pearlman (1992) and Svensson and Woodford (2000) study the control of forward looking models where part of the state is unknown and must be filtered.…”