Getting it into your agent
One page per mod, every tool's command on it. A separate URL per tool would split the same page into five that compete with each other.
npx skills add calebzu/pmsm-control-claude-skills-for-matlab --skill motor-fcs-mpcgit clone --depth 1 https://github.com/calebzu/pmsm-control-claude-skills-for-matlabWrote this? Show the measurements
A badge with what this costs and how it scanned, read live from this page, so it follows the numbers instead of freezing them. Markdown for a README, HTML for a documentation site or a project page.
[](https://agentmods.dev/skills/calebzu/pmsm-control-claude-skills-for-matlab/motor-fcs-mpc)<a href="https://agentmods.dev/skills/calebzu/pmsm-control-claude-skills-for-matlab/motor-fcs-mpc"><img src="https://agentmods.dev/badge/skills/calebzu/pmsm-control-claude-skills-for-matlab/motor-fcs-mpc/github.svg" alt="Measured on agentmods" height="20"></a>Or the 80×15 button, for a site that already has a row of RSS and ATOM ones. Only the verdict fits; the numbers stay here.
<a href="https://agentmods.dev/skills/calebzu/pmsm-control-claude-skills-for-matlab/motor-fcs-mpc"><img src="https://agentmods.dev/badge/skills/calebzu/pmsm-control-claude-skills-for-matlab/motor-fcs-mpc.svg" alt="Reviewed on agentmods" width="80" height="20"></a>What it costs to keep this loaded
Counted locally with the o200k_base tokenizer, which is exact for GPT models; Claude uses its own tokenizer and its counts differ. Treat this as one consistent yardstick across the catalogue rather than a bill. Prices are per million input tokens.
| Model | Per session | Once invoked |
|---|---|---|
| Fable 5.1 | $0.00168 | $0.01862 |
| Opus 5 | $0.00084 | $0.00931 |
| Sonnet 5 | $0.00034 | $0.00372 |
| Haiku 4.5 | $0.00017 | $0.00186 |
Grade A, and why
motor-fcs-mpc scanned grade A with 0 findings against 26 rules in 11 categories — prompt injection, anti-refusal, data exfiltration, privilege escalation, supply chain, agent snooping, system-prompt leakage, SSRF and excessive agency — measured 12d ago.
A static scan of the body, not an audit. Every finding is printed with the line that produced it so you can judge whether it matters here. A mod is markdown that instructs an agent; that is exactly why what it instructs is worth reading.
Nothing flagged
None of the 26 patterns this scan looks for appear in this file: no shell pipes, no recursive deletes, no credential paths, no hidden text, no instruction-override or anti-refusal phrasing, no agent-config snooping. That is not a guarantee, it is the absence of the things that are checkable.
How it starts
The opening of the file, as written. The whole thing — 79 lines — stays where its author put it; the contents beside it link to each section on GitHub.
motor-fcs-mpc — PMSM Single-Vector Finite-Control-Set MPC Builder
Three-phase 2-level voltage-source inverter + PMSM (SPMSM / IPMSM via parameterization). Inner-loop = FCS-MPC current control in dq frame. Outer-loop (optional) = speed PI providing iq_ref. Generalizes across machine sub-types by parameterizing Rs, Ld, Lq, ψf, Pn, J, F — no topology change between sub-types.
Layered on motor-pmsm-base. All base discipline applies (Goto TagVisibility, Vdc/BEMF rule, Visual 4-check, broken-FOC defense).
Must-Follow Rules
- Plan first. Before any
add_block, write a numbered plan: parameter table, design-decision choices (design_decisions.md), build-script structure. Get user approval. - One-click reproducibility. Inject all parameters via
set_param(mdl, 'InitFcn', sprintf(...)). Model must Run from.slxdouble-click in fresh MATLAB session. See crit_conditions.md §J-CRIT. - MPC chart params via
sprintffrom build-script workspace. Chart hardcodesRs/Ld/Lq/ψf/Pn/Tscas numeric literals at build time. Never put MPC params in an external.mfile (drifts from plant). See crit_conditions.md §K-CRIT. - Chart config = INHERITED + dual ZOH (NOT DISCRETE+Tsc).
ch.SampleTime='-1',ch.ChartUpdate='INHERITED', leave Inputs DataType/Size at Inherit. Rate is locked by ZOH @ Tsc on every chart input + ZOH @ Tsc on chart output. See crit_conditions.md §G-CRIT. - Outer PI saturation is mandatory.
LimitOutput='on', limits[-iq_max, +iq_max]with1.5·Pn·ψf·iq_max ≥ 1.3·TL_max. Without saturation, runawayiq_refcollapses the cost-weight ratio and MPC abandons d-axis. See outer_pi_saturation.md. - ZOH every chart input even if upstream is already discrete. INHERITED chart's effective trigger rate is set by the fastest upstream signal; one un-ZOH'd input poisons the whole chart. See crit_conditions.md §A-CRIT.
- Use From Workspace + inline matrix for
ω_ref, NOT Step+RateLimiter. Continuous-mode RateLimiter escapes its slew limit on first solver step. See crit_conditions.md §H-CRIT.
What ships with it
8 files beside SKILL.md in the same directory: the scripts, references and assets a skill reads on demand. Not counted in the per-session cost; read them before you install if any of them is executable.
What this file has done since we first saw it
Hashed on every crawl. A supply-chain change to an agent config is a question of when, not whether, so the history is kept rather than the latest state alone.
- 12d ago First seen · 79 lines · 168 tokens per session scan A 4ff08fc26fe0
motor-fcs-mpc is a skill published in the GitHub repository calebzu/pmsm-control-claude-skills-for-matlab (13 stars, last pushed 2mo ago), licensed Apache-2.0. It adds 168 tokens to every session and 1,862 once invoked, about $0.0008 per session on Opus 5. A static security scan graded it A with 0 findings. No closer match exists in the catalogue, so it is treated as the original; first seen 2026-08-30.
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