CAD.1:1 - Problem frame

Use this when a control problem seems to call for different planning and reaction times, but “add a strategic, tactical and operational layer” does not tell you which decisions belong where. You may also have an inherited hierarchy whose purpose is no longer clear.

Start by writing one consequential behavior that the entire closed loop must produce, together with the available observations, actuators and execution limits. Then identify the decision that prevents a direct solution. The first useful result is a candidate split and an account of what its parts must jointly preserve.

If one qualified controller already meets the task and implementation constraints, retain it. Layering needs an identified benefit; it is not a requirement for accuracy or sophistication.