A method of predicting future blood glucose concentrations of an individual patient includes: selecting an individualized nonlinear physiological model of glucose-insulin dynamics, the selected model having a plurality of model parameters whose values are to be determined; estimating values for each of the model parameters in the plurality of model parameters, a first subset of the model parameters having values estimated from a priori population data and a second subset of the model parameters having values personalized for the individual patient by applying a parameter estimation technique to a priori information and data for the individual patient to obtain a posteriori information; and; applying a nonlinear prediction technique to the selected model using the estimated values for each of the model parameters to obtain a predicted blood glucose concentration of the individual patient at a future time.