In this paper, an estimate-inference-feedback control methodology is proposed for affine systems involving two agents executing cooperative control based on individual choices. No explicit communication channel exists between the two agents. The system state is estimated independently with an unbiased minimum variance (UMV) estimator by each agent and knowledge about their choice actions are updated in discrete time steps. Based on the estimated system state and probability distributions of the choices, sub-optimal controllers are designed iteratively. Analysis and simulation results show that the proposed control law is robust to disturbances and more energy-efficient than strategies ignoring choice information.