Building control system with cooperative extremum-seeking control

1. A cooperative extremum-seeking control system comprising:

a first extremum-seeking controller configured to provide a first control input to a first plant and receive a first performance variable as feedback from the first plant; and

a second extremum-seeking controller configured to provide a second control input to a second plant that mutually interacts with the first plant, receive a second performance variable as feedback from the second plant, and provide the second performance variable to the first controller;

wherein the first extremum-seeking controller is further configured to aggregate the first performance variable and the second performance variable to determine a total performance variable, calculate a gradient of the total performance variable with respect to the first control input, generate a third control input using the gradient of the total performance variable, and provide the third control input to the first plant, wherein the first plant uses the third control input to operate equipment of the first plant, thereby affecting a variable state or condition of the first plant.

2. The system of claim 1 , wherein the total performance variable indicates total power consumption of the first plant and the second plant.

3. The system of claim 1 , wherein the third control input is a temperature setpoint, a pressure setpoint, a speed setpoint, a damper position, or a valve position.

4. The system of claim 1 , wherein the first performance variable indicates power consumption, temperature, pressure, flow, humidity, air quality, damper position, coefficient of performance, comfort, or valve position.

5. The system of claim 1 , wherein the first extremum-seeking controller is configured to drive the gradient of the total performance variable with respect to the first control input to zero in order to generate the third control input.

6. The system of claim 1 , wherein the first plant is an air handling unit (AHU), a chilled water plant, a variable refrigerant flow (VRF) system, or a vapor compression system.

7. The system of claim 1 , wherein the first extremum-seeking controller is configured to filter disturbances from the first performance variable.

8. A cooperative extremum-seeking control method comprising:

providing a first control input to a first control system;

receiving a first performance variable as feedback from the first control system;

receiving a second performance variable from a second control system that mutually interacts with the first control system;

aggregating the first performance variable and the second performance variable to determine a total performance variable;

calculating a gradient of the total performance variable with respect to the first control input;

generating a second control input using the gradient of the total performance variable;

providing the second control input to the first control system; and

using the second control input to operate equipment of the first control system, thereby affecting a variable state or condition of the first control system.

9. The method of claim 8 , wherein the total performance variable indicates total power consumption of the first control system and the second control system.

10. The method of claim 8 , wherein the second control input is a temperature setpoint, a pressure setpoint, a speed setpoint, a damper position, or a valve position.

11. The method of claim 8 , wherein the first performance variable indicates power consumption, temperature, pressure, flow, humidity, air quality, damper position, coefficient of performance, comfort, or valve position.

12. The method of claim 8 , wherein generating the second control input using the gradient of the total performance variable comprises driving the gradient of the total performance variable with respect to the first control input to zero.

13. The method of claim 8 , wherein the first control system is an air handling unit (AHU), a chilled water plant, a variable refrigerant flow (VRF) system, or a vapor compression system.

14. The method of claim 8 , further comprising filtering disturbances from the first performance variable.

15. An extremum-seeking controller configured to:

provide a first control input to a first control system;

receive a first performance variable as feedback from the first control system;

receive a second performance variable from a second control system that mutually interacts with the first control system;

aggregate the first performance variable and the second performance variable to determine a total performance variable;

calculate a gradient of the total performance variable with respect to the first control input;

generate a second control input using the gradient of the total performance variable; and

provide the second control input to the first control system, wherein the first control system uses the second control input to operate equipment of the first control system, thereby affecting a variable state or condition of the first control system.

16. The controller of claim 15 , wherein the total performance variable indicates total power consumption of the first control system and the second control system.

17. The controller of claim 15 , wherein the second control input is a temperature setpoint, a pressure setpoint, a speed setpoint, a damper position, or a valve position.

18. The controller of claim 15 , wherein the first performance variable indicates power consumption, temperature, pressure, flow, humidity, air quality, damper position, coefficient of performance, comfort, or valve position.

19. The controller of claim 15 , further configured to drive the gradient of the total performance variable with respect to the first control input to zero in order to generate the second control input.

20. The controller of claim 15 , wherein the first control system is an air handling unit (AHU), a chilled water plant, a variable refrigerant flow (VRF) system, or a vapor compression system.