The paper investigates problems of real time control for complex long term behavior in dynamically changing environments,
especially with regard to requirements arising in actual applications. The scenario of robotic soccer (RoboCup) is used for
illustration. The proposed Double Pass Architecture avoids some difficulties of layered hybrid architectures. It allows for
real time adaptations to new situations even on the higher levels. It implements concepts of bounded rationality, and supports
Case Based Reasoning methods.