1. A method of estimating a basepoint, comprising: receiving a plurality of goals, wherein each goal has a desired value; receiving a plurality of sensor feedback signals from a controlled system; receiving a plurality of predicted output values of the controlled system from a mathematical model; estimating a desired change for a plurality of basepoint values in response to the goals, the feedback, and the predicted output values; calculating an actual change in basepoint values in response to a plurality of limits and the desired change for the plurality of basepoint values according to a plurality of goal weights while holding limits; and combining the actual change in basepoint values with last pass values of the plurality of basepoint values to produce an updated basepoint estimate.