CAD.2:1 - Problem frame

Use this when a planner and a lower controller have been chosen, but their combined behavior is not determined by their separate models. A reference jump, stale state estimate, model reset or held input may be the event that makes the connection fail.

Start with one command actually received by the lower computation: what quantity it represents, when it applies and how it becomes an actuator action. The first useful result is the connected evolution of plant, planning state and interface error, including the events between updates.

If a qualified interface already supplies this evolution under the current timing and command conditions, reuse it. A diagram or a matching data type is not that result.