1. A method for controlling an energy system, comprising: providing an integrated parametric hybrid model of an energy system for optimizing the energy system and determining desired trajectories over a temporal control horizon as control objectives, wherein the integrated parametric hybrid model comprises one or more parametric hybrid models of unit operation, one or more parametric hybrid models of constraints, and one or more parametric hybrid models of objective functions, each of the parametric hybrid models comprising one or more empirical models for generating values for one or more empirical model outputs, one or more parameter models for generating values for one or more fundamental model parameters of the energy system, and one or more parametric first principles models for generating values for one or more energy system outputs, wherein the fundamental model parameters correlate with, but are not the same as, inputs and outputs of the respective parametric hybrid model; receiving operating information for the energy system; receiving constraint information for the energy system; receiving prediction information for the energy system; executing the models of the parametric hybrid models of the integrated parametric hybrid model to generate the fundamental model parameters, and thereby automatically modifying the integrated parametric hybrid model and an optimization problem formulation for the energy system by online updating of the generated fundamental model parameters for each parametric hybrid model in accordance with the desired trajectories, the operating information, the constraint information, and the prediction information; determining target values and optimal trajectories for a plurality of manipulated variables for the energy system using the modified integrated parametric hybrid model and the modified optimization problem formulation; and controlling the energy system in accordance with the target values and the optimal trajectories.