mpc-horizon-tuning
Selecting MPC prediction horizon and cost matrices for web handling.
Install / Use
npx skills add benchflow-ai/skillsbench --skill mpc-horizon-tuningInstalls into whichever agent you are using.
SKILL.md
Installable skill definition
Quality Score
Category
Development & EngineeringSupported Platforms
Our assessment of mpc-horizon-tuning
mpc-horizon-tuning scores 71/100 on our quality scale, 3205th of 4,140 Development & Engineering skills we index.
Its SKILL.md is 1.2 KB long, split into 5 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 mpc-horizon-tuning 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.
mpc-horizon-tuning compared with similar skills
All 4 of these similar skills score higher than mpc-horizon-tuning; compare them before choosing.
| Skill | Score | Stars | Updated | Format |
|---|---|---|---|---|
| mpc-horizon-tuning (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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| claude-howtoby luongnv89 | 100 | 41.7k | today | CLAUDE.md |
Frequently asked questions
- How do I install mpc-horizon-tuning?
- Run
npx skills add benchflow-ai/skillsbench --skill mpc-horizon-tuning. The install tabs above show the steps for each supported agent. - Which AI agents does mpc-horizon-tuning 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 mpc-horizon-tuning 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 mpc-horizon-tuning still maintained?
- The repository was last updated about 2 months ago, so mpc-horizon-tuning is actively maintained.
Skill content
View source on GitHubname: mpc-horizon-tuning description: Selecting MPC prediction horizon and cost matrices for web handling.
MPC Tuning for Tension Control
Prediction Horizon Selection
Horizon N affects performance and computation:
- Too short (N < 5): Poor disturbance rejection
- Too long (N > 20): Excessive computation
- Rule of thumb: N ≈ 2-3× settling time / dt
For R2R systems with dt=0.01s: N = 5-15 typical
Cost Matrix Design
State cost Q: Emphasize tension tracking
Q_tension = 100 / T_ref² # High weight on tensions
Q_velocity = 0.1 / v_ref² # Lower weight on velocities
Q = diag([Q_tension × 6, Q_velocity × 6])
Control cost R: Penalize actuator effort
R = 0.01-0.1 × eye(n_u) # Smaller = more aggressive
Trade-offs
| Higher Q | Effect | |----------|--------| | Faster tracking | More control effort | | Lower steady-state error | More aggressive transients |
| Higher R | Effect | |----------|--------| | Smoother control | Slower response | | Less actuator wear | Higher tracking error |
Terminal Cost
Use LQR solution for terminal cost to guarantee stability:
P = solve_continuous_are(A, B, Q, R)
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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.