For improved security, in many scenarios, security tokens with an expiration time are used to authenticate Clients. When the token expires, the Server will disconnect the Client, since the authentication information is not valid anymore. Re-establishing the Client connection is expensive operation and also interrupts the message exchange between the Client and Server.
For those cases having the ability to re-authenticate the Client on an existing/open connection is very beneficial.
At the at the 2016-10-13 MQTT TC meeting it was decided to move the re-authentication out of MQTT-255 into a separate issue.