CAD.1:4.2 - Separate decisions because their information and effects differ

For each consequential decision, ask what it changes, which information it needs, how long its effect persists, how quickly a wrong choice becomes harmful, and what resources its computation consumes. Cluster decisions only when those answers support one useful calculation or law.

A slow planning decision might choose a route, reference segment or allocation. A faster decision might reject local disturbance or track that reference. This does not imply that the faster model is less detailed: a low-level model may retain actuator dynamics omitted by a planning model.

Generate materially different candidates. Compare a single loop, a planning-and-feedback split, or another separation motivated by the problem. Do not add a third layer merely because the source diagram contains three. A communication boundary can matter more than a time-scale boundary, and a faster processor can make a proposed split unnecessary.