A non-transitory computer-readable medium comprising computer-executable instructions that, when executed, are configured to cause a processor to perform operations comprising: receiving (152, 154) data representative of: one or more commands generated by a model-less controller to control one or more operations of one or more devices within a system (10; 116); manipulated variable disturbance data associated with one or more operational characteristics of the system; and one or more output parameters associated with the one or more devices of the system; determining whether the data is indicative of a change in the one or more operational characteristics of the system; generating a model representative of the one or more operational characteristics of the system as a function of the data based on a Bayesian optimization algorithm in response to the data being indicative of the change; generating an excitation input, wherein the excitation input includes a change to one or more manipulated variables that the system receives, wherein the excitation input is determined using a constrained Bayesian optimization algorithm, and wherein the excitation input is adapted to produce a detectable change in the system output data while allowing the system to continue operating within operating bounds, and transmitting the excitation input to the one or more devices in response to the data not being indicative of the change; receiving one or more updated output parameters associated with the one or more devices of the system after the excitation input is transmitted; and generating the model based on the one or more updated output parameters and the excitation input. receiving (152, 154) data representative of: one or more commands generated by a model-less controller to control one or more operations of one or more devices within a system (10; 116); manipulated variable disturbance data associated with one or more operational characteristics of the system; and one or more output parameters associated with the one or more devices of the system; one or more commands generated by a model-less controller to control one or more operations of one or more devices within a system (10; 116); manipulated variable disturbance data associated with one or more operational characteristics of the system; and one or more output parameters associated with the one or more devices of the system; determining whether the data is indicative of a change in the one or more operational characteristics of the system; generating a model representative of the one or more operational characteristics of the system as a function of the data based on a Bayesian optimization algorithm in response to the data being indicative of the change; generating an excitation input, wherein the excitation input includes a change to one or more manipulated variables that the system receives, wherein the excitation input is determined using a constrained Bayesian optimization algorithm, and wherein the excitation input is adapted to produce a detectable change in the system output data while allowing the system to continue operating within operating bounds, and transmitting the excitation input to the one or more devices in response to the data not being indicative of the change; receiving one or more updated output parameters associated with the one or more devices of the system after the excitation input is transmitted; and generating the model based on the one or more updated output parameters and the excitation input.