CAD.2:3 - Forces
| Force | Consequential tension |
|---|---|
| Simpler planning state and hidden behavior | Projection removes quantities that can still affect control. |
| Sparse exchange and timely correction | Holding information saves work while increasing mismatch. |
| Reinitialization and continuity | A fresh estimate can improve planning while creating a command jump. |
| Convenient implementation and faithful semantics | Units, frames, clocks and interpolation can change the implemented law. |