Fallout 4's SPECIAL levelling system has been expanded on since Fallout 3 and it's been confirmed that companions cannot die!!
News Sources
Why Your Fallout 4 Companions Can't Die
http://www.cinemablend.com/games/Why-Your-Fallout-4-Companions-Can-t-Die-87007.html
Fallout 4 Completely Changes The Leveling System
http://www.cinemablend.com/games/Fallout-4-Completely-Changes-Leveling-System-88237.html
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