Abstract: In this paper, a new decomposition-coordination method of hierarchical control is presented, it consists of a direct gradient solution of the optimization problem, together with a free flexibility decomposition of the cost-function. Using the freedom of the cost-function decomposition the desired mixed structure control laws are obtained. The low-level controller is a closed-loop term, while at the higher level an open-loop term guarantees the optimality of the global solution. Moreover, the method offers a great flexibility in the choice of the local cost function indices, this the repartition of the task between the two levels can be either off-line computation or on line regulation.