1. A method, 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 on a microprocessor a desired change for a plurality of basepoint values in response to the goals, the feedback, and the predicted output values; calculating on the microprocessor an actual change in basepoint values in response to a plurality of limits, a retained set of goals, and the desired change for the plurality of basepoint values, the retained set of goals determined according to an absolute goal prioritization scheme; modifying the desired change as necessary to hold the limits; combining on the microprocessor the actual change in basepoint values with last pass values of the plurality of basepoint values to produce an updated basepoint estimate; and transmitting actuator requests to the controlled system in response to the updated basepoint estimate, wherein the actuator requests effect change in the controlled system.