An apparatus and method for adapting to changes in the control topology of a cooperative control system including a plurality of controllers are disclosed. The method is implemented by an actuator or sensor, and includes the steps of selecting one of the controllers as the master controller for one or more state variables of an actuator or sensor, detecting a change in the control topology of the cooperative control system, and reselecting a master controller for the one or more state variables responsive to the change in the control topology.