Not only that. The most important aspect is that you can have explicit constraints in the outputs, so that your system does not go outside the operating envelop

Not only that. The most important aspect is that you can have explicit constraints in the outputs, so that your system does not go outside the operating envelope it is designed for. For example you can state that I want you to stabilize my system given that my motor can only apply up to this force. And by the way do not exceed system velocity of x km/h. We can also have objective to explicitly define how much more important to us accurate tracking vs stabilization speed.