A method of controlling a controllable component using a distributed control module, DCM, operating according to a DCM unit time interval, t, representing a unit of time of a DCM clock, the method comprising: receiving a nominal command reference from a main processing unit, MPU, operating according to an MPU unit time interval, u, wherein u represents a unit of time of an MPU clock; determining a series of cumulating command references based at least in part on the nominal command reference; and outputting a series of cumulating control commands to a controllable component, the series of cumulating control commands based at least in part on the series of cumulating command references; the method being characterized in that the step of determining the series of cumulating command references comprises: determining a command reference reciprocal, K, wherein K is determined such that K-increments of t fall within one increment of u by less than one increment of t; determining a series of K(t)-incremental command references sequentially corresponding to one of K-increments of t, and wherein K(t) represents K-increments as a function of t; and determining a series of K(t)-cumulating command references sequentially corresponding to one of the K-increments of t the series of K(t)-cumulating command references determined based at least in part on the series of K(t)-incremental command references; wherein determining the series of K(t)-incremental command references comprises delaying the nominal command reference by a delay line, the delay line comprising a series of K unit delay operators, the series of K unit delay operators configured to provide a series of K(t)-delayed nominal command references, the K(t)-delayed nominal command reference sequentially delayed by one of the K increments of t. receiving a nominal command reference from a main processing unit, MPU, operating according to an MPU unit time interval, u, wherein u represents a unit of time of an MPU clock; determining a series of cumulating command references based at least in part on the nominal command reference; and outputting a series of cumulating control commands to a controllable component, the series of cumulating control commands based at least in part on the series of cumulating command references; the method being characterized in that the step of determining the series of cumulating command references comprises: determining a command reference reciprocal, K, wherein K is determined such that K-increments of t fall within one increment of u by less than one increment of t; determining a series of K(t)-incremental command references sequentially corresponding to one of K-increments of t, and wherein K(t) represents K-increments as a function of t; and determining a series of K(t)-cumulating command references sequentially corresponding to one of the K-increments of t the series of K(t)-cumulating command references determined based at least in part on the series of K(t)-incremental command references; wherein determining the series of K(t)-incremental command references comprises delaying the nominal command reference by a delay line, the delay line comprising a series of K unit delay operators, the series of K unit delay operators configured to provide a series of K(t)-delayed nominal command references, the K(t)-delayed nominal command reference sequentially delayed by one of the K increments of t. determining a command reference reciprocal, K, wherein K is determined such that K-increments of t fall within one increment of u by less than one increment of t; determining a series of K(t)-incremental command references sequentially corresponding to one of K-increments of t, and wherein K(t) represents K-increments as a function of t; and determining a series of K(t)-cumulating command references sequentially corresponding to one of the K-increments of t the series of K(t)-cumulating command references determined based at least in part on the series of K(t)-incremental command references; wherein determining the series of K(t)-incremental command references comprises delaying the nominal command reference by a delay line, the delay line comprising a series of K unit delay operators, the series of K unit delay operators configured to provide a series of K(t)-delayed nominal command references, the K(t)-delayed nominal command reference sequentially delayed by one of the K increments of t.