1. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 Simplified schematic of a typical building HVAC system Figure Legend:

2. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 Schematic of a NC-OPT subsystem. The controller only communicates with subsystems that affect or are affected by the controlled plant. Figure Legend:

3. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 Example of a system that can be setup as an NC-OPT network. (a) Physical collection of neighboring rooms with controllers, and uncontrolled exogenous disturbance coming from outside temperature. (b) Subsystems displayed as NC-OPT network. Figure Legend:

4. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 Experimental system schematic Figure Legend:

5. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 Network topology schematic, showing the physical signals passing between subsystems. Signal names are the same as in Fig. 4 and Table 1. Figure Legend:

6. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 Subsystem 1 block diagram. Compressor and condenser use compressor rpm to control suction pressure and power consumption. Figure Legend:

7. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 Typical block diagram, evaporators (subsystems 2–4). The EEV is used to track a superheat setpoint. Figure Legend:

8. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 Typical block diagram, zones (subsystems 5–7). The water pump is used to control temperature drop and zone temperature. Figure Legend:

9. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 Simulation convergence at t = 0: Inputs converging to centralized optimal values over cmax iterations Figure Legend:

10. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 Centralized cost t = 0 converging to minimum over cmax iterations Figure Legend:

11. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 Zone 1 temperature change and zone temperature inputs for two tests with the same setpoint step change but with two different numbers of iterations per sample, compared to centralized optimal values compared Figure Legend:

12. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 Zone 1 actual temperatures for two tests with the same setpoint step change but with two different numbers of iterations per sampling period Figure Legend:

13. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 Estimated disturbance Figure Legend:

14. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 Changing input setpoints for (a) superheat and (b) temperature drop, in the presence of an increase in heat load disturbance. User- desired setpoints are also shown. Figure Legend:

15. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 (a) Compressor speed and (b) power consumption in the presence of an increase in heat load disturbance Figure Legend:

16. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 Tradeoff between setpoint tracking and power consumption during an increase in heat load disturbance, The actual temperature and the setpoint are shown. Additionally, the actual NC-OPT prediction and the predicted results if the control inputs remained unchanged are shown. Figure Legend:

17. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 (a) Pressure, (b) compressor speed, and (c) power comparisons for two different power setpoints Figure Legend:

18. Date of download: 6/1/2016 Copyright © ASME. All rights reserved. From: Optimal Setpoints for HVAC Systems via Iterative Cooperative Neighbor Communication J. Dyn. Sys., Meas., Control. 2014;137(1):011006-011006-15. doi:10.1115/1.4027887 Zone temperature tracking comparisons Figure Legend: