Why did james madison believe that a system of federalism based on voluntary compliance would always fail?

James Madison believed that a system of federalism based on voluntary compliance would always fail because of the following reasons:

-Each state legislature contained "courtiers of popularity" who would actively oppose particular policies;

-Experience proved that states would never uniformly comply with national requests;

-Doubts about each other's commitment to policies would clog the federal system.

either b) they were often feared and despised by other native cultures. or

c) their obsession allowed them to coexist with many other native cultures because of their peaceful nature.

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