# MPC Controller Skill

Expert skill for Model Predictive Control implementation and tuning.

## Purpose

Provides comprehensive capabilities for designing and implementing Model Predictive Controllers, enabling constraint-aware optimal control for robotic systems.

## Key Features

- Linear and nonlinear MPC formulation
- CasADi symbolic modeling
- Real-time code generation (ACADO)
- Constraint handling
- Cost function design
- Solver optimization

## When to Use

- Implementing trajectory tracking control
- Handling control constraints
- Designing predictive obstacle avoidance
- Optimizing control performance
- Building real-time controllers
