I'd like to form a sentence to state, that a particular action inherently involves a trade-off (balance) decision between two benefits (which are mutually exclusive, but in-betweens exist).
"The design of a controller involves a trade-off between robustness and performance". I am seeking a good formulation for "involves" a trade-off. How can I say, that it is an inherent and inevitable part of the action? The word involves is too weak in my eyes, since it does not convey my point, that it is inherent/inevitable/intrinsic to the action of spending money.
"The design IS a trade-off ..." is (sadly) wrong in my opinion, since it states an equality. However, the action of designing is not EQUAL to the trade-off, but the trade-off decision is made by the action (no equality, but strong inclusion)!