{
  "title": "Deterministic delayed lateral-error feedback",
  "status": "New hypothetical recursion; separate from any feature-matching benchmark",
  "scenarios": 24,
  "rows": {
    "steps": 4800,
    "summaries": 24
  },
  "parameters": {
    "gains": [
      0,
      0.4,
      0.8,
      1.6
    ],
    "delays_steps": [
      0,
      2,
      5
    ],
    "missing_window_enabled": [
      false,
      true
    ],
    "initial_error_m": 0.3,
    "correction_limit_m_per_update": 0.05,
    "updates": 200,
    "missing_steps_inclusive": [
      70,
      89
    ],
    "disturbances_m": {
      "40": 0.3,
      "100": -0.3,
      "150": 0.3
    }
  },
  "equation": "e[k+1]=e[k]+clip(-K*e[max(0,k-d)],-.05,.05)+w[k]; correction=0 on missing observation steps",
  "row_convention": "Each row contains e[k], applied correction and disturbance, then e[k+1]. 200 rows encode 201 states per scenario. RMS includes all 201 states.",
  "checks": {
    "all_pass": true,
    "recurrence_all_4800_rows": true,
    "correction_bound": true,
    "missing_observation_zero_correction": true,
    "zero_gain_final_error_0_6m": true,
    "analytic_unsaturated_error_max_m": 2.168404344971009e-19,
    "observation_index": true
  },
  "limits": [
    "Update steps have no assigned duration or forward distance. Correction is an instantaneous change of the scalar lateral state, not velocity, steering or acceleration.",
    "Delay is an integer count of state updates; initial delayed references use e[0].",
    "No observation noise, feature matching, obstacle, collision, actuator dynamics, braking, slip, platform geometry or energy model.",
    "Missing data pauses correction only; it does not implement a physical stop or a safe fallback.",
    "All disturbances and gains are chosen teaching inputs; no robustness or physical safety guarantee follows.",
    "No pass/fail or hardware acceptance threshold is assigned. This is not a rerun of the archived mapped-feature simulation."
  ]
}