Yup, that kinda was my point, and where you say "at least" that is also a good point why setting up some complicated static system to maintain limits is not pra

Yup, that kinda was my point, and where you say "at least" that is also a good point why setting up some complicated static system to maintain limits is not practical. Hence my philosophy has been for a long time to set the physical constraints that just have to be decided (and do that as best as I can). And then to not worry (more than a tiny bit) about statically deciding the rest, or it'll end in a nightmare.