making use of the conceptual and computational similarities between the karmarkar method and the kalman filter a controller system is capable of handling the observer function , the minimum time controller function and the minimum energy controller function . the system includes an element that has the computational structure of a kalman filter . the inputs of this element are qualitatively controlled to deliver the desired results to the remaining computation elements . in a controller for an lp control task , the element develops the dual vector signal used in the affine scaling algorithm by applying information to it as if its task were to estimate the states of a system whose observable output is d x c , the input is o , the observation noise covariance matrix r is close to zero , the transition matrix is i and the matrix that describes the relationship between the measurable parameters and the observable output is a t d x . different controls applied to the kalman filter structure element yield control signals for qp control tasks .