1. 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 commands associated with the physical system, capable of implementing a model inverting control law, and configured to determine an active set of goals and limits based on the electronic commands associated with the physical system; a model predictive control system capable of implementing a model predictive control law and configured to utilize the active set of goals and limits to determine current effector requests; an actuator servo loop capable of converting the current effector requests into actuator commands; an actuator capable of receiving the actuator commands and controlling a behavior of the physical system; and an estimator capable of providing feedback to the model predictive control system and the model inverting control system.