Best practices

• Use physically credible bounds and validate on an excitation trajectory not used for fitting.
• Keep real-data timestamps and commands synchronized at 400 Hz; PACE rejects a different timebase rather than guessing.
• Start with 64–256 candidates and inspect the reported trajectory allocation.
• Delay is integer-valued, so expect a discontinuous objective around lag boundaries.
• Never deploy an identified parameter set to hardware without independent simulation and conservative torque/temperature checks.