Method and device for controlling a technical system in real time

A method for controlling an over-actuated technical system in real time, comprising:

• sensing a state of the technical system;
• with the sensed state, initiating independent executions of a plurality of optimization processes configured to solve a predefined optimization problem related to optimal control of the technical system;
• after a predetermined delay, extracting a current solution vector from each optimization process;
• computing differences for pairs of the solution vectors;
• and
• on the basis of the differences, selecting at least one of the solution vectors for use in controlling the technical system, wherein the selection of the one of the solution vectors includes executing a voting scheme in which clusters of the solution vectors are formed and the solution vector to be used is selected from the largest one of the clusters.