We elaborate on a metamorphic approach for testing industrial control systems. The proposed approach consists of two phases: an exploration phase in which we learn about fault patterns of the system under test and an exploitation phase where the observed fault patterns are used for targeted testing. Our method extracts metamorphic relations and input space of the system from its requirements. The seed input used for testing is extracted from the execution logs of the system and used to generate source tests and follow-up tests automatically. The morphed input is constructed based on the seed input and refined using a set of constraints. The approach is exemplified on a position control system and the results show that it is effective in discovering faults with an increased level of automation.