1. A method for on-line auditing and updating a multiple input multiple output (MIMO) dynamical model of a process, the method comprising: given an online controller having an existing model, a. Using the existing model in the online controller as initial model to configure a tester; b. Perturbing process variables of the process; c. Collecting and slicing the process data; d. Estimating the model quality and identifying poor performing and problematic submodels, the submodels being subsets of models; e. Further perturbing the process variables relevant to the identified poor performing and problematic submodels; f. Re-identifying those poor performing and problematic submodels, resulting in newly identified submodels; g. Updating the online controller model with the newly identified submodels, wherein model update is performed online, with the process continuing to operate within normal operating parameters of the process, and said updating resulting in an improved model for the online controller.