A control system for a motor vehicle, for outputting a controlled variable, with the aid of which a directly controlled variable of a motor vehicle is adjustable via suitable control operations, in order to adapt the directly controlled variable to a reference variable of the control system. The control system includes a controller, which is configured to output a first output variable on the basis of the directly controlled variable of the motor vehicle, and on the basis of the reference variable of the control system. The control system further includes a predictive model, which may be trained to output a second output variable that reflects a deviation of a driving behavior of a driver of the motor vehicle from the first output variable of the controller. The controlled variable of the control system encompasses an addition of the first output variable and the second output variable.