A system and computer-implemented method are provided for enabling control of a physical system based on a state of the physical system which is inferred from sensor data. The system and method may iteratively infer the state by, in an iteration, obtaining an initial inference of the state using a mathematical model representing a prior knowledge-based modelling of the state, and by applying a learned model to the initial inference of the state and the sensor measurement, wherein the learned model has been learned to minimize an error between initial inferences provided by the mathematical model and a ground truth and to provide a correction value as output for correcting the initial inference of the state of the mathematical model. Output data may be provided to an output device to enable control of the physical system based on the inferred state.