A method and computer-readable medium are provided that determine predicted acoustic values for a sequence of hypothesized speech units using modeled articulatory or VTR dynamics values and using the modeled relationship between the articulatory (or VTR) and acoustic values for the same speech events. Under one embodiment, the articulatory (or VTR) dynamics value depends on articulatory dynamics values at pervious time frames and articulation targets. In another embodiment, the articulatory dynamics value depends in part on an acoustic environment value such as noise or distortion. In a third embodiment, a time constant that defines the articulatory dynamics value is trained using a variety of articulation styles. By modeling the articulatory or VTR dynamics value in these manners, hyper-articulated, hypo-articulated, fast, and slow speech can be better recognized and the requirement for the training data can be reduced.