# Predictive safety filter using system level synthesis

arXiv: https://arxiv.org/abs/2212.02111 · HTML: https://mlsanity.com/paper/2212.02111/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 5 Dec 2022.

## Built on by (most cited first, 7 of 7)

- [Gameplay Filters: Robust Zero-Shot Safety through Adversarial Imagination](https://mlsanity.com/paper/2405.00846/) (2024)
- [Learning Predictive Safety Filter via Decomposition of Robust Invariant Set](https://mlsanity.com/paper/2311.06769/) (2023)
- [Safety Filter Design for Neural Network Systems via Convex Optimization](https://mlsanity.com/paper/2308.08086/) (2023)
- [A New Perspective On AI Safety Through Control Theory Methodologies](https://mlsanity.com/paper/2506.23703/) (2025)
- [Certified Speculative Execution for Untrusted AI Agents](https://mlsanity.com/paper/2606.31023/) (2026)
- [Safe Reinforcement Learning with a Predictive Safety Filter for Motion Planning and Control: A Drifting Vehicle Example](https://mlsanity.com/paper/2506.22894/) (2025)
- [Topological Feasibility Guarantees for Differentiable Predictive Control](https://mlsanity.com/paper/2608.10332/) (2026)

## Abstract (arXiv)

Safety filters provide modular techniques to augment potentially unsafe control inputs (e.g. from learning-based controllers or humans) with safety guarantees in the form of constraint satisfaction. In this paper, we present an improved model predictive safety filter (MPSF) formulation, which incorporates system level synthesis techniques in the design. The resulting SL-MPSF scheme ensures safety for linear systems subject to bounded disturbances in an enlarged safe set. It requires less severe and frequent modifications of potentially unsafe control inputs compared to existing MPSF formulations to certify safety. In addition, we propose an explicit variant of the SL-MPSF formulation, which maintains scalability, and reduces the required online computational effort - the main drawback of the MPSF. The benefits of the proposed system level safety filter formulations compared to state-of-the-art MPSF formulations are demonstrated using a numerical example.