integral-action-design
Adding integral action to MPC for offset-free tension tracking.
Install / Use
npx skills add benchflow-ai/skillsbench --skill integral-action-designInstalls into whichever agent you are using.
SKILL.md
Installable skill definition
Quality Score
Category
Development & EngineeringSupported Platforms
Our assessment of integral-action-design
integral-action-design scores 71/100 on our quality scale, 3204th of 4,140 Development & Engineering skills we index.
Its SKILL.md is 1.1 KB long, split into 6 sections with 3 code examples: fairly brief, so expect to fill in details yourself.
With 1,813 GitHub stars, it is one of the more widely adopted skills in the catalogue.
Maintenance, license and trust
- The repository was last updated about 2 months ago, so integral-action-design is actively maintained.
- It is released under the Apache-2.0 license, a permissive license that allows use, modification and commercial use with attribution.
- Its trust signals score 100/100, with no cautions. These come from repository metadata, not a code audit — read the skill file before letting an agent act on it.
integral-action-design compared with similar skills
All 4 of these similar skills score higher than integral-action-design; compare them before choosing.
| Skill | Score | Stars | Updated | Format |
|---|---|---|---|---|
| integral-action-design (this skill)by benchflow-ai | 71 | 1.8k | 2mo ago | SKILL.md |
| Agent-Reachby Panniantong | 100 | 86.4k | 15d ago | CLAUDE.md |
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Frequently asked questions
- How do I install integral-action-design?
- Run
npx skills add benchflow-ai/skillsbench --skill integral-action-design. The install tabs above show the steps for each supported agent. - Which AI agents does integral-action-design work with?
- It is written for Universal, as a SKILL.md file. Other agents that read the same format can often use it too.
- Is integral-action-design safe to use?
- It is Apache-2.0-licensed and scores 100/100 on trust signals. Skills are instructions an agent will follow, so read the file before installing it and do not approve commands you do not understand.
- Is integral-action-design still maintained?
- The repository was last updated about 2 months ago, so integral-action-design is actively maintained.
Skill content
View source on GitHubname: integral-action-design description: Adding integral action to MPC for offset-free tension tracking.
Integral Action for Offset-Free Control
Why Integral Action?
MPC with model mismatch may have steady-state error. Integral action eliminates offset by accumulating error over time.
Implementation
u_I = gamma * u_I - c_I * dt * (T - T_ref)
u_total = u_mpc + u_I
Where:
- u_I: Integral control term
- gamma: Decay factor (0.9-0.99)
- c_I: Integral gain (0.1-0.5 for web systems)
- dt: Timestep
Tuning Guidelines
Integral gain c_I:
- Too low: Slow offset correction
- Too high: Oscillations, instability
- Start with 0.1-0.3
Decay factor gamma:
- gamma = 1.0: Pure integral (may wind up)
- gamma < 1.0: Leaky integrator (safer)
- Typical: 0.9-0.99
Anti-Windup
Limit integral term to prevent windup during saturation:
u_I = np.clip(u_I, -max_integral, max_integral)
For R2R Systems
Apply integral action per tension section:
for i in range(num_sections):
u_I[i] = gamma * u_I[i] - c_I * dt * (T[i] - T_ref[i])
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Trust signals
From repository metadata: license, adoption, age and documentation. Not a code audit — see the Safety scan above for what the skill file itself contains.