I hope that a reviewer does not totally misunderstand this as being the same as inverse dynamics or computed muscle control, just over a longer simulation time. Do you make it clear somewhere that you are not finding open loop controls u(t) for the entire duration. You are finding a controller u(x) such that the same controller can produce the entire movement with all its perturbations. A controller u(x,phi) is also allowed if phi is the phase within the gait cycle that can be defined based on state variables in x.
I hope that a reviewer does not totally misunderstand this as being the same as inverse dynamics or computed muscle control, just over a longer simulation time. Do you make it clear somewhere that you are not finding open loop controls u(t) for the entire duration. You are finding a controller u(x) such that the same controller can produce the entire movement with all its perturbations. A controller u(x,phi) is also allowed if phi is the phase within the gait cycle that can be defined based on state variables in x.