Before revision:  Importantly, optimization over a fabric is asymptotically stable, so optimization fabrics constitute a  building block for stable system design.
After revision:  Importantly, optimization over a fabric is asymptotically stable, so optimization fabrics constitute a building block of stable behavioral design. We build the theoretical foundations of our framework here and provide a simple empirical demonstration of a practical class of geometric fabrics, which additionally exhibit a natural geometric path consistency making them convenient for flexible and intuitive behavioral design.