A method of controlling an actuator system including a plurality of k actuators. Each of the actuators-receives a control input ui, wherein index i denotes a particular actuator, which control input ui is determined depending on a weight matrix W including a weighting factor wi for each actuator and depending on at least a physical maximum control limit uimax for each of the actuators. The weighting factors wi and/or physical maximum control limit uimax are actively changed during operation if a first comparison of the control input ui or a function f(ui) thereof with a set first threshold value yields that the control input ui or function f(ui) thereof exceeds the set first threshold value. The first comparison is repeated during operation, and a new control input ui is determined from the adjusted weighting factor wi and/or the adjusted physical maximum control limit uimax and applied to the actuators.