| Freshness and completeness | A rapid partial observation may constrain the next action more usefully than a delayed complete one; neither dominates without a plant and a task. |
| Prediction and unobserved disturbance | Known actions allow a past observation to be propagated, but prediction cannot reconstruct disturbances that no available channel distinguishes. |
| Compact internal state and retained dependence | A small representation is cheaper; discarding correlation, sample time or applied-input history can invalidate its next update. |
| Estimation and control | A sensor can improve estimation while leaving the limiting action unchanged. A smaller error bound can enlarge the set of feasible commands. |
| Rigorous bounds and execution cost | Exact feasible sets can be expensive. An outer approximation is usable if its additional uncertainty still permits control before the deadline. |
| A chosen realization and architectural necessity | Removing one internal path tests that realization. It does not establish that every controller without that path fails. |