# 📐  L2 Spec — Model Predictive Control (MPC/NMPC) — Nominal + Mismatch Specs

**ID:** `L2-433-001` · **Status:** ⊙ Testnet (genesis catalog)
**Parents:** ⬆ Principle [`L1-433`](/artifact/l1/L1-433)

> **🎯 Tolerance (ε):** expression
> **⚖ Difficulty score:** 0.38 · **Delta tier:** 5
> **⛓ On-chain block:** 41555261

---

## 1. Domain Ω

**Type:** `range`

| Parameter | Unit | Range |
|---|---|---|
| N states | — | 2 – 20 |
| N constraints | — | 0 – 50 |
| Prediction horizon n | N | 5 – 100 |
| Computation budget ms | ms | 1 – 1000 |

## 2. Tolerance (ε)

**Type:** `fn`

```
0.03 + 0.02 * (20 / prediction_horizon_N) ** 0.3
```

## 3. Difficulty

| Property | Value |
|---|---|
| Difficulty score | 0.38 |
| Delta tier | 5 |

## 4. Fingerprint

`6b12b8f9a81aeee5030c06d84f20f32415cf357fef6d4b742490935fb8f0fbf8`

## 5. On-chain Registration

- **Chain hash:** `0x1d35c4c6c96db394e8cba71b5740534e668af4a4e14cd1ae29fb864db11539c0`
- **Chain tx hash:** `0x4eb4d9462399c9160221b232a2ba586c55a2bfbc5e1096ce52e2e9dbcc49cc10`
- **Chain block:** `41555261`

---

## File Mapping

This bundle consists of: `L2-433-001.md`, `L2-433-001.json`.

| File | Role | How to regenerate |
|------|------|-------------------|
| `L2-433-001.md` | Source of truth — edit this | Human or LLM |
| `L2-433-001.json` | Structured metadata for the registry | LLM regenerates from the sections above |

**Prompt for your LLM after editing this Markdown:**

> Read the attached Markdown. Regenerate the sibling `.json` so every field matches.
> Preserve the schema documented in the rows above.
> Output each file in its own fenced code block tagged with the filename.
> Output only the JSON object.

_This Markdown was auto-synthesized from the catalog row for `L2-433-001`._
_Edit it, regenerate the JSON, and submit at [/submit](/submit) to claim the artifact._