a) determining a pseudo-control command u_p∈^p′ based on a physical model of a system, said pseudo-control command represents the torques (L, M, N) and a total thrust force (F) acting on the system,

b) determining a control matrix D, D∈^p′×k according to u_p=Du, wherein u denotes actuator control commands,

c) dissociating the control matrix D into sub control matrices D_i according to

 q≤p′, so that

 and u_p,i=D_iu,

wherein the sub control matrices D_i and corresponding sub pseudo-control commands u_p,i for i=1 correspond to the primary task and for i>1 correspond to the at least one non-primary task and wherein a priority of the non-primary tasks decreases with increasing index i,

d) determining actuator control commands for solving the primary task according to u₁=D₁^#u_p,1, where #denotes a matrix inversion and u₁∈^k comprises said actuator control commands which solve the primary task, with u₁∈U:={u∈^k|u^min≤u≤u^max}

e) projecting the non-primary tasks, i>1, into a null space of the primary task, i=1, and into respective null space of all of the non-primary tasks of higher priority, if present, so that D_iu_j=0, with u_j∈^k, j>i, comprises actuator control commands for performing a non-primary task, and

f) providing the actuator control commands from d) and e) at the actuators.