1. A method of controlling an environmental maintenance system that includes a plurality of actuators and a plurality of sensors, each sensor measuring a value of a physical condition of an environment, the method comprising: receiving sensor values S corresponding to the sensors, the sensor values S corresponding to operational levels U 1 of the actuators; receiving new operational levels U 2 of the actuators, where U 2 −U 1 =dU; predicting a change dS in the sensor values S, the change dS corresponding to the change dU, wherein the prediction is performed in accordance with a transfer model; operating the actuators with the new operational levels U 2 ; subsequently, measuring new sensor values S new ; repeating the receiving, prediction, operation, and subsequent measurement at a plurality of times; determining a metric of an accuracy of the transfer model by comparing the predicted sensor values to the measured sensor values; receiving a proposed change to the operation levels of the actuators, the proposed change being based on the transfer model; based on the accuracy metric, adjusting the proposed change to the operation levels of the actuators; and setting the operation levels of the actuators based on the adjustment to the proposed change.