Abstract: A control system for calculating control commands for actuators in an aircraft, wherein the control commands are calculated by computers distributed in the craft in dependence on input signals containing parameters that serve as the basis for said commands, wherein a computer (C) is arranged at each respective local actuator (A) and, together with the actuator (A), forms a servo node (S) where the computer (C) receives input signals via data bus (B), whereby the computer (C) in each servo node (S) calculates control commands for the local actuator (A) based on one or more sets of control laws in dependence on received parameters, and wherein the computer (C) calculates, in a corresponding manner, control commands for at least one additional actuator (A) in another servo node (S), and wherein a choice of control commands is used as the control command (7) for the actuator (A) locally in each servo node (S) in dependence on a comparison between the control commands (4) calculated locally in the servo node (S) a