The invention relates to a method (100) for estimating (150) a temporally variable measurement variable of a system, in particular a temperature in a vessel (24), preferably in a food processor (10) for the at least partially automatic preparation of food, wherein at least one measurement information (210.1) is determined by means of a measurement (130), which measurement information differs, at least depending on at least one system parameter (230), from the true value of the measurement variable.