Distributed adaptive control of a multi-zone HVAC system

A heating, ventilation, and air conditioning (HVAC) control system comprising:

• one or more zone temperature sensors positioned in building zones that measure zone temperature;
• one or more or zero wall temperature sensors that measure wall temperature of one or more walls bordering the building zones;
• one or more neighboring zone temperature sensors that measure neighboring zone temperatures of one or more neighboring zones;
• one or more supply air temperature sensors that measure supply air temperature of one or more zones;
• a communication network between neighboring zones;
• an outside temperature sensor that measures outside temperature;
• one or more air handling units that provide supply air to target zones at a supply air temperature;
• and
• a distributed adaptive control system that includes a plurality of closed-loop controllers with a closed-loop controller in each target zone, wherein the closed loop controllers do not need any knowledge of model parameters and such model parameters may change with time, each closed-loop controller configured to receive a target zone temperature and apply an estimated adaptive control law that applies automatically adjusted adaptive gain to set the supply air temperature or a volume flow rate of working fluid in one or more heat exchangers, the estimated adaptive control law minimizing effects of surroundings and activity in the target zones while mitigating effects of neighboring zones, disturbances, and heat gains, wherein the supply air is provided to a target zone by the one or more air handling units at the supply air temperature determined by the estimated adaptive control law, wherein the distributed adaptive control system is configured to guarantee boundedness of the temperature tracking error of every zone.