It really depends on the design of the lower deck. With your upper deck 6' across and 20" separation between decks, you may not want to have the lower deck full depth because of limited visibility. The shallower the lower deck, the more stability for the upper deck, instead of a "T" structure, you end up with an "H", with less need for diagonal bracing. Having said that, I find gravity takes care of stability with relative ease...given proper bracing.
Otto K.