To maximise energy capture, the motion of the wave energy converter must be controlled to achieve mechanical resonance with incoming waves. The energy maximising real time control of the cyclorotor will require the development of a relative-foil fluid velocity estimator and predictor. In comparison with wind and tidal turbines, a cyclorotor requires a separate estimation for each of the hydrofoils. The model for cyclorotor-based WECs must be partially linearised, and a customised numerical optimisation method must be developed to transfer from optimal to real time control. The receding horizon control solution also must be found.