Core technical problem

Input = noisy

Terrain = non-linear

Motor = delayed

Safety margin = narrow

Engineering translation

We are designing a closed-loop system where:

Input ≠ clean signal

Disturbance ≠ predictable

Output must feel stable

The real control challenge

Filter without killing intention

Damp without removing responsiveness

Stabilize without oscillation

System-level questions

Responsiveness vs stability

Filtering vs latency

Mechanical stability vs software correction

The reality is

The joystick is not the control problem.
The human nervous system is.