A plant is operable to receive control inputs c(t) and provide an output y(t). The plant (72) has associated therewith state variables s(t) that are not variable. A control network (74) models the plant by providing a predicted output which is combined with a desired output to generate an error that is back propagated through an inverse control network to generate a control error signal that is input to a distributed control system to vary the control inputs to the plant in order to change the output y(t) to meet the desired output. The inverse model represents the dependencies of the plant output on the control variables parameterized by external influences to the plant.