1. A problem partitioning method for problem solving in a computer system, wherein the method comprises the steps of: receiving the definition of a system to be controlled, wherein said system is controlled by a plurality of control elements; receiving at least one hierarchical control structure definition including a plurality of structure parameters; receiving problem definitions for a plurality of control nodes in said hierarchical control structure; receiving a structure evaluation function; and defining an instantiation of said hierarchical control structure comprising the steps of: decomposing said system into a plurality of hierarchical control structure instances, wherein each of said hierarchical control structure instances includes a plurality of control levels, wherein each of said control levels includes at least one control node; evaluating the performance of each of said hierarchical control structure instances with said structure evaluation function; and selecting an optimal hierarchical control structure instance.