# writeAcadoFilesReachsetMPC

Generate files for ACADO Toolbox for the Reachset Model Predictive Control algorithm

## Contents

- Syntax
- Description
- Input Arguments
- See Also

## Syntax

writeAcadoFilesReachsetMPC(path,benchmark,Opts)

## Description

This function generates and compiles the files containing the system dynamics, which are needed for solving optimal control problems with the ACADO toolbox

## Input Arguments

path | path of the root directory for the Convex Interpolation Control Algorithm
benchmark | name of the selected benchmark
Opts | a structure containing following options
.nx | number of system states
.nu | number of system inputs
.N | number of time steps for the prediction horizon. Prediction horizon: Opts.N * Opts.dT [{10} / positive integer]
.termReg | terminal region around the steady state xf (class: mptPolytope)
.reachSteps | number of reachability steps during one time step [{10} / positive integer]

## See Also

`acadoConvertDynamics`, writeAcadoFiled

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