%% reachSetPred
% computes the reachable set for an MPC comfort controller
%
%% Syntax
%
% <html>
%        <div class="syntax">
% R = REACHSETPred(obj,x0,iter,Param) <br>
%        </div>
% </html>
%
%% 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
%
%
% <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">
%            object of class comfContrLQR storing the control law
%            computed in the offline-phase
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            x0
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            initial point for the reachable set computation
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            iter
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            current iteration (=time step) of the Safety Net Controller
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            Param
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            control parameters computed during the online phase
%        </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">
%            R
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            final reachable set (class: zonotope)
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <safetyNetControlhelp.html |safetyNetControl|>, <simulatehelp.html |simulate|>, <comfContrMPChelp.html |comfContrMPC|>
%

%%
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