Patent ID: 7949416

Claim:
A method for controlling a multivariable system, comprising: receiving a plurality of limits; receiving a first quantity of goals, wherein each goal has a desired value; receiving sensor feedback; estimating a basepoint in response to the first quantity of goals, the plurality of limits, and the sensor feedback, wherein the basepoint includes a set of values corresponding to an equilibrium point at which a predetermined amount of enabled limits are met and a second quantity of goals are fulfilled according to a goal prioritization scheme; transmitting actuator requests to a controlled system in response to the estimated basepoint, wherein the actuator requests effect change in the controlled system to enable the controlled system to meet the predetermined amount of enabled limits and to fulfill the second quantity of goals; comparing predicted values from a mathematical model to the sensor feedback; and selectively adjusting the estimated basepoint in response to a difference between the predicted values and the sensor feedback in order to reduce the difference.