One critique of the current legislative voting scheme is that it is "serialized" (votes happen one by one) rather than "parallel" (all proposals are considered and voted on at once, and the best one is chosen). Thus, sometimes rated methods or Condorcet methods are suggested for legislative votes.
One feature of many legislatures is that a supermajority of legislators can exclude (remove) certain legislators from the legislature. This is usually rarely invoked. One criticism of Proportional representation is that it can allow fringe minorities representation; this legislative exclusion feature can address that concern to some extent, though it has been criticized as well.
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Discussion on how to use Approval and Condorcet for legislative votes, including the ideas of "approval threshold" (how many people need to support an action being taken for it to happen; by default, it's a majority) and "concession threshold" (if an idea has a certain significant amount of support, you can indicate that you will switch from opposing to supporting it): 
There may be some value to allowing legislators to entrench laws without having to make them constitutional amendments. 
- "Should Party List allow voters to disapprove a party/candidate, with a 2/3rds majority banning them from the legislature?". The Center for Election Science. 2019-10-29. Retrieved 2020-04-22.
- "r/EndFPTP - Comment by u/lucasvb on "Stop Fragmentation while maintaining"". reddit. Retrieved 2020-04-23.
- "Variable Supermajority Legislative Rule". The Center for Election Science. 2019-08-14. Retrieved 2020-05-12.