CAD.4:4.4 - Search jointly, with bounded conclusions

A practical first search can enumerate a small number of architecture choices and, within each, solve or tune the continuous parameters. Recompute the error and command domain for every material change. Reject a setting whose necessary constraints fail; retain unresolved settings separately from feasible ones.

Compare feasible candidates through task-relevant trade-offs and costs. Do not collapse incompatible obligations into an invented scalar score. A Pareto comparison can expose choices where one candidate is faster but more resource intensive. If the search covered only a grid, selected controller class or local optimizer, state that reach; it does not prove global architectural optimality.

Investigate the active limitation. If actuator reserve fails, altering the reference interface may help more than enlarging the processor. If timing fails, a reduced model or shorter horizon may help more than increasing gain. If a reduced model loses an important mode, a larger controller budget may be unavoidable. This is the constructive feedback from the whole evaluation to CAD.1–CAD.3.