Abstract: Apparatus includes a reference model unit operable to generating a reference model state signal and a reference model state acceleration signal, the reference model state signal being based, at least in part, on a command control signal. The apparatus includes a reference model limiter including a minimum reference model acceleration value and a maximum reference model acceleration value, and bounding the reference model state acceleration signal by the minimum reference model acceleration value and the maximum reference model acceleration value. Optionally, the apparatus further includes a pseudo-control hedge unit including the reference model limiter and outputting a hedge signal to the reference model unit.