Method and system for operating a machine

A method for operating, in particular controlling and/or monitoring, a machine, in particular a robot (1), the method comprising the steps of:

• a) determining learning error values (e) on the basis of model values (MM), which are determined by means of a first model (6) and a second model (7) on the basis of machine state values (□), and on the basis of reference values (MR) of the machine;
• b) filtering the determined learning error values by means of a first filter (8) and calibrating the first model on the basis of said learning error values (e1) filtered by means of the first filter;
• c) filtering the determined learning error values by means of a second filter (9) and calibrating the second model on the basis of said learning error values (e2) filtered by means of the second filter;
• and
• d) operating, in particular controlling and/or monitoring, the machine on the basis of model values determined by means of the calibrated first model and the calibrated second model on the basis of machine state values.