CoolerNMP.m is the latest version.

Changes:
- removed the terminal cost because we want that the zc is saturated at the end, while the terminal cost prevents this resulting in a SS offset
- the disturbance is passed form the plant to the NMPC to avoid plant-model mismacth. This could be avoided with a linear MPC which has set point feedback
- all states are scaled in the model equation wrt the maximum temperature, which is T hot inlet, such that all values are now [0:1]
- constraints for the input rate of change have been added
- the weights have been tuned (by trial and error), the ratio of weights for Temp : Valve = 1e2 : 1e-2 (for the non-scales variables), and Tmax*1e2:1e-2. for the scaled. 
- all parameters are now called from parameters.m at the begining of the main script.

Possible improvments:
- linear MPC, which will does not need the disturbance, and thus the comparison with PID is fairer