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 non-traded off controlled output(s) and shaping pseudo inputs/constraint outputs desired plant dynamics and providing pseudo inputs to the new controlled plant, and wherein the MIMO constraint decoupling controller decouples constraint outputs from one another, and decouples the constraints from the non-traded off primary controlled outputs.