{"artifact_id":"L1-433","layer":"L1","title":"Model Predictive Control (MPC/NMPC)","domain":"Control Theory","sub_domain":"Receding horizon control","physics_fingerprint":{"L_DAG":4.0,"title":"Model Predictive Control (MPC/NMPC)","domain":"Control Theory","carrier":"N/A","primitives":["O.iter","O.qp.nlp_solver","S.feasibility.constraint_satisfaction"],"sub_domain":"Receding horizon control","noise_model":"deterministic","problem_class":"nonlinear_inverse","solution_space":"control_sequence_vector","difficulty_delta":5,"integration_axis":"prediction_horizon","sensing_mechanism":"receding_horizon_optimization"},"observable_profile":{"metric":"tracking_RMSE_normalized","regime":"Existence of the recovered control_sequence_vector is guaranteed within the declared Omega bounds. Uniqueness holds on the measurement-supported subspace; out-of-support modes are controlled by declared priors. Stability is conditionally stable (kappa_eff ~= 500); model_plant_mismatch dominates the stability cliff; the remaining mismatch parameters contribute higher-order bias terms. Deterministic sets the irreducible data-fidelity floor.","secondary":"constraint_violation_rate"},"size_tiers":{"center_spec":{"omega":{"n_states":4,"n_constraints":10,"prediction_horizon_N":20,"computation_budget_ms":100},"input_format":"measurement_only","problem_class":"nonlinear_inverse","forward_operator":"receding_horizon_optimization","epsilon_fn_center":"0.05 tracking_RMSE_normalized"},"omega_bounds":{"n_states":[2,20],"n_constraints":[0,50],"prediction_horizon_N":[5,100],"computation_budget_ms":[1,1000]},"epsilon_bounds":{"tracking_RMSE_normalized":[0.01,0.3]},"allowed_problem_classes":["nonlinear_inverse"],"allowed_omega_dimensions":["prediction_horizon_N","n_states","n_constraints","computation_budget_ms"],"allowed_forward_operators":["receding_horizon_optimization"]},"hardness_fn":{"type":"epsilon_fn","delta":5,"kappa":10000.0,"metric":"tracking_RMSE_normalized"},"initiator_dataset":[{"name":"primary","weight":1.0,"ipfs_cid":null,"license_hash":null}],"status":"testnet","staked_pwm":0.0,"chain_hash":"0xb000e1d7a08cc5cb0d4ecc259034584c201fd6de1e1a2a690cd77a869ac31326","chain_tx_hash":"0xba5a293fd0f12ab9dfb0d295d8969dc2ae7b014e470ff096eece79b10288d033","chain_block":41555257}