When to use PhysicsCharacterControl versus KinematicRagdollControl

When should I use the KinematicRagdollControl over the PhysicsCharacterControl. I understand that both control’s can serve primarily for an upright character unless setRagdollMode is called within the CollisionListener, while using KinematicRagdollControl; however, is their any reason I should use PhysicsCharacterControl over KinematicRagdollControl for a bipedal character? While I understand they serve different functions simple versus complex I see KinematicRagdollControl being used like PhysicsCharacterControl in TestRagdollCharacter. Would their be any draw backs to relying mostly on KinematicRagdollControl over PhysicsCharacterControl performance wise?