Command based method for allocating fluid flow from a plurality of pumps to multiple hydraulic functions

Fluid from two pumps is allocated to a plurality of hydraulic actuators based on a plurality of flow commands, each specifying a desired amount of flow to be applied to a different hydraulic actuator. For a given hydraulic actuator, the allocation involves: determining an apportionment of the desired amount of flow, if no other hydraulic actuator is active; altering the apportionment in response to all the plurality of flow commands; and using the altered apportionment to determine a first amount of the flow for one pump to provide and a second amount of the flow for the other pump to provide. The process is repeated for all the hydraulic actuators. Supply valves for each hydraulic actuator are controlled by the associated first and second amounts and each pump is controlled in response to either the first or second amounts for all the hydraulic actuators.