The embodiments described herein include one embodiment that a control method including executing an infeasible search algorithm during a first portion of a predetermined sample period to search for a feasible control trajectory of a plurality of variables of a controlled process, executing a feasible search algorithm during a second portion of the predetermined sample period to determine the feasible control trajectory if the infeasible search algorithm does not determine a feasible control trajectory, and controlling the controlled process by application of the feasible control trajectory.