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 and the desired change for the plurality of basepoint values according to a plurality of goal weights while holding limits, wherein the plurality of goal weights include a relative priority for each of the plurality of goals according to a relative goal prioritization scheme; 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.