# reachSet

computes the reachable set for an MPC comfort controller

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also

## Syntax

[res,R,Param] = reachSet(obj,x0,iter)

## Description

Computes the reachable set for one time step of the MPC (Model Predictive Control) controller which is used as a comfort controller during online application of the Safety Net Controller.

## Input Arguments

obj | object of class comfContrMPC storing the control law computed in the offline-phase
x0 | initial point for the reachable set computation
iter | current iteration (=time step) of the Safety Net Controller

## Output Arguments

res | flag specifying if the constraints are satisfied or not
R | final reachable set (class: zonotope)
Param | control parameters computed during the online phase which are required for the simulation of the controller later on

## See Also

`safetyNetControl`, `simulate`, `comfContrMPC`

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