Two novel model predictive control (MPC) schemes are proposed in this article for coordinating two different heating systems with fast and slow heating dynamics. The objective is to improve the performance of a slow-reacting heating system in terms of maintaining the indoor operative temperature within predefined bounds while reducing the energy cost. Here, a combination of a hydronic radiant floor heating (RFH) system and electric baseboard (BB) heaters is used for the demonstration. A sequential approach is proposed where separate MPC optimizations are performed sequentially for the RFH and BB heaters, whereas for the simultaneous approach a single MPC optimizes the two heating systems concurrently. The performances of these two cooperative schemes are compared with the base case where the RFH is used as the only heating system. The simultaneous approach results in achieving improved comfort with a 6% reduction in the energy cost compared to the base case. The RFH system, for both the base case and the cooperative setups, uses a configuration incorporating a heat pump and a thermal energy storage (TES) tank for optimal energy usage based on the time-of-use electricity rates.
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