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-mpc-dualvectorgit 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-dualvector)<a href="https://agentmods.dev/skills/calebzu/pmsm-control-claude-skills-for-matlab/motor-fcs-mpc-dualvector"><img src="https://agentmods.dev/badge/skills/calebzu/pmsm-control-claude-skills-for-matlab/motor-fcs-mpc-dualvector/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-dualvector"><img src="https://agentmods.dev/badge/skills/calebzu/pmsm-control-claude-skills-for-matlab/motor-fcs-mpc-dualvector.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 | $0.00267 | $0.02861 |
| Opus 5 | $0.00133 | $0.01430 |
| Sonnet 5 | $0.00053 | $0.00572 |
| Haiku 4.5 | $0.00027 | $0.00286 |
Grade A, and why
motor-fcs-mpc-dualvector 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 — 97 lines — stays where its author put it; the contents beside it link to each section on GitHub.
motor-fcs-mpc-dualvector — PMSM Dual-Vector Finite-Control-Set MPC Builder
Three-phase 2-level voltage-source inverter + PMSM (SPMSM / mild-saliency IPMSM via parameterization). Inner loop = dual-vector FCS-MPC current control in the dq frame: each control period applies two voltage vectors — the first optimal active vector V_opt1 for a deadbeat-computed on-time t_opt1, then a second vector V_j for the remainder Tsc − t_opt1. Outer loop = speed PI providing iq_ref. The second vector + intra-period time split drive switching-cycle current ripple far below single-vector FCS-MPC at the same Tsc.
Distilled from Xu Yanping et al. 2017 (Two-Vector Model Predictive Current Control for PMSM, Trans. China Electrotech. Soc. 32(20):222-230). Control-law formulas are the signed N2–N5 in pmsm_formulas.md §E; plant physics, prediction, speed PI, Clarke/Park and the 8-vector set are reused by pointer from the same file (§0-§7 / §A / §B.5).
Layered on motor-pmsm-base. All base discipline applies (Goto TagVisibility, Vdc/BEMF rule, Visual 4-check, broken-FOC defense).
What makes dual-vector different (vs single-vector motor-fcs-mpc)
| Aspect | Single-vector (motor-fcs-mpc) |
Dual-vector (this skill) |
|---|---|---|
| Vectors per period | 1 (held the whole Tsc) |
2: V_opt1 for t_opt1, then V_j |
| Modulator | none; one switch state per period | none; time-slicer sequences two states within Tsc |
| Extra novelty | — | q-axis deadbeat time allocation (N3), duty-weighted average voltage (N4) |
| Chart sample-time | INHERITED + dual ZOH | two-rate DISCRETE: controller @ Tsc, slicer @ Ts (see rule 4) |
| Cost (this reference) | L2 weighted | L1 unweighted (paper eq 7) |
Ripple @ same Tsc |
baseline | ~3-5x lower (paper Table 2) |
There is no SVPWM and no Anti_Park — the selected discrete vectors are applied directly; the gate comes from the time-slicer, not a PWM modulator.
What ships with it
7 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 · 97 lines · 267 tokens per session scan A eb107f6bcf6e
motor-fcs-mpc-dualvector 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 267 tokens to every session and 2,861 once invoked, about $0.0013 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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