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This paper describes Pratt &Whitney's pioneering work in “constrained dynamic inversion,” a control algorithm architecture for multivariable systems that must operate tight to limits. A hallmark of gas turbine control is the prevalence and fundamental importance of tightly holding limits. When constrained dynamic inversion is applied to gas turbine systems control, this algorithm enables operation closer to physical and operational limits, while also providing faster and more precise responses. In addition to more fully exploiting systems physical capabilities, this architecture provides for the independent and finely coordinated control of system variables-of-interest even when each effector affects all variables. A distinctive feature of this algorithm is that it can be implemented on state of the art controllers at update rates consistent with vehicle control.