CAD.3:12 - Relations

CAD.2 supplies the exact connected dynamics. CAD.1 is the return when no useful command domain exists for the selected split. CAD.4 uses the size and cost of the feasible domain in whole-candidate comparison. MMP.18 supplies general compatibility reasoning; this pattern supplies the control-specific invariance, margin and continuation construction.

For feedback on an estimated state, CAD.5:4.7 supplies the extra forcing and input allowance. Use its run-wide error bound, including startup and allowed delivery modes, before qualifying the resulting command domain.