A method for transmitting control commands in a computer system, which includes components at least in the form of nodes, actuators and communication systems, wherein the control commands are communicated over the communication systems from the nodes to the actuators, and wherein one or more of the components may fail to operate according their specification. For consistently accepting control commands at the actuators, the nodes and their control commands are assigned priorities, wherein a node and its control commands have the same priority, wherein at least two priorities are used, wherein a high priority node produces high priority control commands and a low priority node produces low priority control commands, and wherein a high priority node is configured to communicate its control commands over at least two communication systems to the actuators and a low priority node is configured to communicate its low priority control commands over at least one communication system to the actuators. An actuator accepts the high priority control commands from the high priority node as long as it receives said high priority control commands on any one of the communication systems, and in this first case, it discards the low priority control commands, and stops to accept said high priority control commands in case said actuator does not receive said high priority control commands from any of the communication systems for a configurable duration, and in the second case, the actuator starts to accept low priority control commands.

An operation of a processing machine with redundant actuators is controlled according to a reference trajectory by selecting, from a set of points forming a segment of the reference trajectory to be processed for a period of time, a subset of points corresponding to a fraction of the period of time. The subset of points is selected such that the redundant actuators are capable to position the worktool at each point in the subset within the period of time and are capable to maintain the worktool at the last point of the subset after the period of time while satisfying constraints on motion of the redundant actuators. The constraints on motion are selected based on the mode of operation of the processing machine. The segment of the reference trajectory is modified in the time domain and the control inputs for controlling the motion of the redundant actuators are determined using the modified segment of the reference trajectory.

Systems and methods include actuation system of turbomachinery that include an actuator configured to control pitch of vanes of the turbomachinery and a positioner configured to position the actuator to control the pitch. The actuation system also includes a controller system communicably coupled to the positioner. The controller system is configured to drive the positioner based at least in part on a set point of the turbomachinery and obtain data from the positioner indicating an amount of force used for a target pitch. Using the data, the controlling system derives an operating condition for the turbomachinery and controls the turbomachinery based at least in part on the operating condition of the turbomachinery.