A method for controlling an overdetermined
system having multiple actuators, such as an aircraft (1) having multiple drive units (3), the actuators performing at least one primary task and at least one non-primary task, the method comprising: a) determining pseudo-control commands based on a
physical model of the
system, the pseudo-control commands specifically representing torques (L, M, N) and total thrust (F) acting on the
system; b) based on u p =D u Determine the control matrix D, so that u1 = D ‑1 u p , represents the control instructions for the
actuator to perform the main task; c) map the non-main task into the null space N(D) of the main task, so that when u2, represents the control instructions for the
actuator to implement the non-main task, Du2 = 0, and d) provide the control instructions from b) and c) to the
actuator.