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A system for controlling a plant process wherein the plant is over-actuated with N+ 1 actuators and manipulates N per formance variables is disclosed. The system includes an outer-loop controller operable to compare values ofN perfor mance variables from the plant with a reference set point and provide a desired virtual control input to an inner-loop con troller. The inner-loop controller receives the desired virtual control input from the outer-loop controller and provides real control inputs to the at least N+ 1 actuators. The N+ 1 actuators receive the real control inputs and Subsequently provide an actual virtual control input to the plant. Upon receiving the actual virtual control input from the N+ 1 actuators the plant is operable to produce updated values of the N performance variables in an optimized manner.