In reply to Yanis Nayu:
I've heard this explained as every individual anatomy (muscle length, tendons, etc.) resulting in a system with a preferred "resonant frequency" for want of a better term. So if you're working at a cadence that doesn't fit your anatomy, whether faster or slower, it takes more energy and feels more tiring.
Probably can't really be a single frequency, that sounds too simplistic and changing pace would be far harder, perhaps it's something like an optimum frequency for a given effort level. Haven't thought this bit through but there may be something interesting in the approach.
Anyway, I like it as a theory - especially since it means the people I've walked with have had a real excuse for leaving me trailing on every hill I've ever walked up...