CAD.3:3 - Forces
| Force | Consequential tension |
|---|---|
| Planning freedom and correction authority | Aggressive nominal commands consume input needed for error rejection. |
| Tight bounds and defensible bounds | A smaller assumed error enlarges the command domain but can invalidate its own premise. |
| One feasible step and continued operation | Current feasibility does not ensure a viable successor. |
| Sampled evidence and continuous constraints | A bound at update instants can miss a violation between them. |