Renegotiation-proof contract in repeated agency

Renegotiation-proof contracts are studied in infinitely repeated principal-agent problem. Contracts satisfying a weaker notion of renegotiation-proofness always exist. The renegotiation-proof value function has a simple characterization: It is the principal's optimal value function when an appropriate lower bound is placed on the agent's expected utility. Sufficient conditions are provided for renegotiation-proof value function in finite horizon to converge to renegotiation-proof value function in infinite horizon as time goes to infinity.