A hybrid control system for predicting a behavior of a physical system, the hybrid control system comprising: a model inverting control system configured to receive one or more commands and one or more limits as inputs and capable of implementing a model inverting control law and determining an active set of goals and limits; and characterised by further comprising: a model predictive control system configured to receive the one or more commands and one or more limits as inputs and capable of implementing a model predictive control law and utilizing the active set of goals and limits to determine current effector requests, the current effector requests being used to control behavior of the physical system, wherein: the model inverting control system implements a constrained optimization to predict one future controller update (34, 38); and the model predictive control system implements a constrained optimization to predict a plurality of future controller updates (34, 38) in a single iteration; and an estimator capable of receiving information from one or more sensors of the physical system and providing feedback to the model predictive control system and the model inverting control system based upon a current state of the physical system, wherein the estimator adjusts the predictions of the model predictive control system and the model inverting control system based on readings of the one or more sensors. a model inverting control system configured to receive one or more commands and one or more limits as inputs and capable of implementing a model inverting control law and determining an active set of goals and limits; and characterised by further comprising: a model predictive control system configured to receive the one or more commands and one or more limits as inputs and capable of implementing a model predictive control law and utilizing the active set of goals and limits to determine current effector requests, the current effector requests being used to control behavior of the physical system, wherein: the model inverting control system implements a constrained optimization to predict one future controller update (34, 38); and the model predictive control system implements a constrained optimization to predict a plurality of future controller updates (34, 38) in a single iteration; and an estimator capable of receiving information from one or more sensors of the physical system and providing feedback to the model predictive control system and the model inverting control system based upon a current state of the physical system, wherein the estimator adjusts the predictions of the model predictive control system and the model inverting control system based on readings of the one or more sensors. a model predictive control system configured to receive the one or more commands and one or more limits as inputs and capable of implementing a model predictive control law and utilizing the active set of goals and limits to determine current effector requests, the current effector requests being used to control behavior of the physical system, wherein: the model inverting control system implements a constrained optimization to predict one future controller update (34, 38); and the model predictive control system implements a constrained optimization to predict a plurality of future controller updates (34, 38) in a single iteration; and the model inverting control system implements a constrained optimization to predict one future controller update (34, 38); and the model predictive control system implements a constrained optimization to predict a plurality of future controller updates (34, 38) in a single iteration; and an estimator capable of receiving information from one or more sensors of the physical system and providing feedback to the model predictive control system and the model inverting control system based upon a current state of the physical system, wherein the estimator adjusts the predictions of the model predictive control system and the model inverting control system based on readings of the one or more sensors.