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 xuansenpa1/skillrevise --skill mpc-horizon-tuninggit clone --depth 1 https://github.com/xuansenpa1/skillreviseWrote 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/xuansenpa1/skillrevise/mpc-horizon-tuning)<a href="https://agentmods.dev/skills/xuansenpa1/skillrevise/mpc-horizon-tuning"><img src="https://agentmods.dev/badge/skills/xuansenpa1/skillrevise/mpc-horizon-tuning/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/xuansenpa1/skillrevise/mpc-horizon-tuning"><img src="https://agentmods.dev/badge/skills/xuansenpa1/skillrevise/mpc-horizon-tuning.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 | $0.00018 | $0.00326 |
| Opus 5 | $0.00009 | $0.00163 |
| Sonnet 5 | $0.00004 | $0.00065 |
| Haiku 4.5 | $0.00002 | $0.00033 |
Grade A, and why
mpc-horizon-tuning 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 9d 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.
This is a copy
100% identical to mpc-horizon-tuning — 0 lines differ, which has more behind it and is treated as the original. This page carries a canonical link to it rather than competing with it.
What it actually says
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)
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.
- 9d ago First seen · 49 lines · 18 tokens per session scan A fa85a6c22e72
mpc-horizon-tuning is a skill published in the GitHub repository xuansenpa1/skillrevise (56 stars, last pushed 7d ago), licensed MIT. It adds 18 tokens to every session and 326 once invoked, about $0.0001 per session on Opus 5. A static security scan graded it A with 0 findings. It is 100% identical to mpc-horizon-tuning, differing in 0 lines, and is treated as a copy.
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