1. A control system for a physical plant, comprising: an integral action control unit providing control signals for a physical plant; a multiple-input-multiple-output (MIMO) primary decoupling controller decoupling controlled outputs from one another and shaping pseudo inputs/controlled outputs desired plant dynamics and providing control command derivatives to the integral action control unit and thereby forming at least part of a new controlled plant; and a multiple-input-multiple-output (MIMO) constraint decoupling controller decoupling constraint outputs from one another and from the non-traded off controlled output(s) and shaping pseudo inputs/constraint outputs desired plant dynamics and providing pseudo inputs to the new controlled plant.