# comfContrMPC

class representing a MPC controller object

## Contents

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

## Syntax

obj = COMFCOnTRMPC(benchmark,Opts,ContrOpts)

## Description

This class represents a MPC (Model Predictive Control) controller object which can be used as a comfort controller during the online phase of the Safety Net Controller.

## Input Arguments

benchmark | name of the considered benchmark model (see; "aroc/benchmarks/...")
Opts | a structure containing following options
.xf | goal state
.tFinal | final time after which the goal set should be reached
.U | set of admissible control inputs (class:; interval)
.W | set of uncertain disturbances (class: interval)
.V | set of measurement errors (class: interval or; zonotope)
.X | set of state constraints (class: mptPolytope)
.N | number of time-steps [{10} / positive integer]
.xCenter | reference trajectory states
.uCetner | reference trajectory inputs
ContrOpts | a structure with options for comfort controller
.Q | state weighting matrix for the MPC controller
.R | input weighting matrix for the MPC controller
.horizon | optimization horizon for the optimal control problems in reference trajectory time steps
.Ninter | number of intermediate time steps during one reference trajectory time step

## Output Arguments

obj | resulting object of class comfContrMPC

## See Also

`safetyNetControl`, `objSafetyNetContr`

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