Enter from the control question
| Your working difficulty | Obtain first | Direct entry |
|---|---|---|
| A useful observation arrives after the action deadline, or different channels reveal different parts | An observation and memory arrangement, its error bound and the actions it permits; or a precise information limitation | CAD.5 |
| One calculation cannot use the needed horizon, information and execution time together | Competing decompositions and the couplings each would remove | CAD.1 |
| Planner and feedback code use a “reference” with different timing or meaning | The actual exchange and its derived error dynamics | CAD.2 |
| A stable controller cannot follow the requested command within state or actuator limits | A jointly admissible command/error domain with continuation, or a specific incompatibility | CAD.3 |
| A more accurate model, faster planner or extra sensor competes for limited resources | A comparison of complete feasible arrangements and the conditions of their realization | CAD.4 |
An engineer can use CAD.5 without introducing a planner or multiple layers. An engineer with a qualified lower loop can retain it and change command admission. If a current complete observation and a simple controller already meet the task, they remain a serious stopping alternative. Read the Architectural Reference when several results must fit together or a change reopens their conditions.
The intended reader can work with state-space models, feedback laws, bounded sets and elementary optimization. A reader who lacks those means needs instruction or a qualified control-engineering contributor. The examples are mathematical constructions. Before relying on a physical installation, establish its model, uncertainty and execution premises.