In this paper, we develop a hybrid supervisory control architecture in a real-time environment for constrained control systems. The strategy is based on Command Governor (CG) ideas that are here specialized to consider both time-varying set-points and constraints. The significance of the method mainly lies on its capability to avoid constraints violation and loss of stability regardless of any configuration change occurrence in the plant/constraint structure by replacing the current CG with a new on-line computed unit. A real-time scheme is an extremely appealing choice because of its numerous engineering applications: automobile industry, defense and aerospace, chemical and nuclear plant applications, multimedia/telecommunications, and so on. Experimental results on a laboratory four-tank test-bed and simulations on a Cessna 182 aircraft model show the effectiveness of the proposed strategy.