If I understand Tom correctly, you can keep a tree at any size, even with a central leader (or possibly a modified central leader). Don't make any heading cuts. Do pruning in late summer. If a tree gets too tall, bend down the central leader and promote a weak leader to become a new central leader with a drop-crotch cut.
This is what I have been attempting with my apple trees. If one of them gets too tall, I will bend it down so that the central leader is no longer the leader. Even if there is no weak leader, one will grow after doing this. I don't have any long term experience, so I was hoping to find someone who has done this over a longer period of time.
I do have one fig tree that grew to 11 feet tall three times last year! I cut it back to a weak leader each time, but that sucker wants to touch the sky. When it leafs out this year, I think I may bend it over completely, hoping to get a weak leader lower down. So far, scaffold branches have only appeared above 5 foot level. It is already 1 1/2" caliper at the base, so I can imagine that eventually, bending it over won't be an option any longer.
Maybe figs are the exception and can't be kept small on a central leader.