Finite Horizon Lqr includes explicit scope boundaries (an explicit 'when not to use' or 'out of scope' section); a dedicated installation section; worked examples. At roughly 2,830 words the SKILL.md is on the longer end of the catalog distribution.
Finite Horizon Lqr sits in the General category under the general-misc sub-topic in the ClaudSkills catalog. There are 10 related skills indexed alongside it; comparing a few before installing usually reveals which fits your workflow best.
These notes are auto-generated from features detected in the SKILL.md file and from this catalog's structure — they aren't part of the source repository.
Finite Horizon Lqr is a community-contributed Claude Code skill in the general-misc sub-category. It ships as a SKILL.md file that Claude Code auto-discovers under ~/.claude/skills/finite-horizon-lqr/ and loads when your prompt matches the skill's trigger.
When to invoke it: Use when controlling a linear plant x_{k+1} = A x_k + B u_k under a quadratic cost over a fixed N-step horizon — receding-horizon MPC inner loops, finite-time stabilization, terminal-cost design. Not for nonlinear plants (linearize first), continuous-time models (discretize first), pure steady-state regulation (solve the ARE once), or hard input/state constraints (use QP-based MPC).
The Finite Horizon Lqr Claude Code skill is built for Claude Code users and developers across all disciplines looking for general-purpose AI assistance. It's part of ClaudSkills (also referred to as Claude Skills or Claude Code Skills) — the open community-curated registry of 186,000+ SKILL.md files for Anthropic's Claude Code agent and the wider Claude ecosystem (Claude API, Claude Agent SDK).
mkdir -p ~/.claude/skills/finite-horizon-lqr curl -L https://claudskills.com/skills/finite-horizon-lqr/SKILL.md \ -o ~/.claude/skills/finite-horizon-lqr/SKILL.md
Or just download SKILL.md directly and drop it into ~/.claude/skills/finite-horizon-lqr/. Claude Code auto-discovers it on next session.
Skills live at ~/.claude/skills/finite-horizon-lqr/SKILL.md on macOS/Linux, or %USERPROFILE%\.claude\skills\finite-horizon-lqr\SKILL.md on Windows. See the full install guide for step-by-step instructions.
Open @claudskills_bot on Telegram, tap Open Desktop App, and the desktop app installs this skill for you. Or share the bot link with a colleague — they get the same one-tap install. Learn more →
The ClaudSkills desktop app installs any skill directly into ~/.claude/skills/ with one click — no terminal required. Pro starts at $9/mo or $149 lifetime.
For the full experience including quality scoring and one-click install features for each skill — upgrade to Pro.
SKILL.md from the source repository to ~/.claude/skills/finite-horizon-lqr/SKILL.md and restart Claude Code. Both flows are detailed at claudskills.com/install/.SKILL.md file that lives under ~/.claude/skills/<name>/ and tells the Claude Code CLI agent how to perform a specific task (instructions, prompts, allowed tools). Skills are auto-discovered at session start. Finite Horizon Lqr is one of 67,000+ skills indexed in the open ClaudSkills catalog, classified under the General category. Learn more at /learn/what-is-a-claude-skill/.If you reference this skill in a blog post, paper, or documentation, you can cite it as:
@misc{finite-horizon-lqr-2026,
author = {kazimrmerchant},
title = {Finite Horizon Lqr [Claude Code skill]},
year = {2026},
publisher = {ClaudSkills},
url = {https://claudskills.com/skills/finite-horizon-lqr/}
}Grade A · scanned 2026-08-15 — free static scan against the OWASP Agentic Skills Top 10.
No risk patterns were found in any of the ten OWASP-aligned categories. How grading works ›
Browse all General skills in the ClaudSkills registry, or explore these other picks from the same category:
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SKILL.md files, not affiliated with, endorsed by, or sponsored by Anthropic.