Abstract: A real-time distributed model-based predictive control method having a time maintenance mechanism that solves all state synchronization problems. Method steps include generating a message that predicts a system value corresponding to a future time, and executing a control process using the system value contained within said message, resulting in a process state. The process state is then stored in a state queue. The local process time is rolled back to the latest valid local process time prior to said message if the message precedes the current process state time. Rolling back comprises retrieving the system state values at that latest valid local process time from said state queue and re-executing the control process, using the system value contained within the message, and storing the new state in the state queue.