The color management system comprises a state-space based model for a pixel element in a dynamically varying color marking device. A sensor measures the color of the printed output for construction of a selected set of sensitivity functions representative of color output relating to inputs. The gradients of the sensitivity functions are extracted and used to develop the corresponding discrete multivariable state-space model of the pixel element. More particularly, the model is constructed from the Jacobian matrix characterizing a change in measured color output for a change in input color values of the pixel. Extension of modeling methodology for a single pixel is applied to multiple pixel elements.