%% objOptBasedContr
% construct a controller object for the Optimization
% Based Control Algorithm
%
%% Syntax
%
% <html>
%        <div class="syntax">
% obj = objOptBasedContr(dyn,Rfin,contrLaw,Param) <br>
% obj = objOptBasedContr(dyn,Rfin,contrLaw,Param,occSet) <br>
%        </div>
% </html>
%
%% Description
% Constructor of the controller object for the Optimization Based
% Control Algorithm. The object stores all computed data from the
% offline-phase of the algorithm. The controller object can be used
% to simulate the online-phase of the algorithm.
%
%% Input Arguments
%
%
% <html>
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            dyn
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            function handle to the dynamic function of the
%            open-loop system
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            Rfin
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            final reachable set
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            contrLaw
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            a structure containing the control law parameter
%        </p>
%        <p class="table">
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="inner">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .N
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            number of time steps
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .Ninter
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            number of intermediate time steps
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .K
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            cell-array storing the feedback matrices for all
%            time steps
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .u_ref
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            reference input for all time steps
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            Param
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            a structure containing the benchmark parameters
%        </p>
%        <p class="table">
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="inner">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .R0
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            initial set of states (class: interval)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .xf
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            goal state
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .tFinal
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            final time after which the goal state should be
%            reached
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .U
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            set of admissible control inputs (class:;
%            interval)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .W
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            set of uncertain disturbances (class: interval)
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            occSet
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            cell-array storing the occupancy set
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% Output Arguments
%
%
% <html>
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            obj
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            resulting object of class objOptBasedContr
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <optimizationBasedControlhelp.html |optimizationBasedControl|>
%

%%
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%        <tt class="minicdot">&#149;</tt>
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%        <tt class="minicdot">&#149;</tt>
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