I have recently been following the discussion on [click-bite], a R+ group for training dogs for protection sports. I am also reading a book called "Drive" by Daniel H. Pink.
So this is the encapsulation of my training philosophy: perfect performance comes from confidence. Confidence comes from competence. Competence comes from clarity. So my goal will be to train my dogs with maximum clarity and minimum stress. I want my dogs to be so competent at their behaviors that they are not worrying about why they can't do them, but instead do them for the intrinsic motivation of doing them.