# reachSetPred

computes the reachable set for an MPC comfort controller

## Contents

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

## Syntax

R = REACHSETPred(obj,x0,iter,Param)

## Description

Computes the reachable set for an MPC (Model Predictive Control) comfort controller for the allocated computation time to predict where the system state will be when the synthesis and verification of the comfort controller is finished.

## Input Arguments

obj | object of class comfContrLQR 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
Param | control parameters computed during the online phase

## Output Arguments

R | final reachable set (class: zonotope)

## See Also

`safetyNetControl`, `simulate`, `comfContrMPC`

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