Matched comparison with alternative predictive architectures

Conduct a matched comparison between the behavior–realization architecture and closely related reference-governor or predictive-safety-filter architectures, using a faithful implementation of the relevant alternative methods.

Background

The paper positions its predictive realization layer as architecturally similar to control barrier function quadratic programs, reference governors, and predictive safety filters because each modifies an upstream desired command or behavior to satisfy physical constraints. However, the present study does not implement or experimentally compare against these alternatives. The authors identify a matched comparison with the closest alternative architecture as an unresolved matter needed to assess the claimed architectural distinction against established approaches.