Minor updates:
- updated extrapolation method in boundaryconditions to be faster
- updated the emulator initialization to be more robust
- added a dummy emulator class for use when Dymola is unavailable
- added an optional parameters attribute to the Stateestimation class
- updated the Control class to formulate the problem the 1st time the optimization is run, this reduces time during the mpc definition
- added a nextstepcalculator attribute in the MPC class to be able to dynamically change the number of steps the horizon should recede based on the ocp results