A method for controlling a temperature of a building using a building thermal model of the building in a model predictive control (MPC) system includes measuring the temperature and a rate of change of temperature for at least one zone that is included in the building thermal model so as to determine an error from a temperature and rate of change of temperature that is predicted by the MPC system. Possible causes of the error and a probability of each of the possible causes of error occurring are determined. An impact of each of the possible causes is evaluated so as to identify at least one of the possible causes which would reduce the error. The building thermal model is adapted based on the at least one identified possible cause and the temperature of the building is controlled using the adapted building thermal model in an MPC controller.