  In this paper, a distributed Model Predictive Control strategy is developed
for a multi zone building plant with disturbances. The control objective is to
maintain each zones temperature at a specified level with the minimum cost of
the underlying HVAC system. The distributed predictive framework is introduced
with stability proofs and disturbances prediction, which have not been
considered in previous related works. The proposed distributed MPC performed
with 48 percent less computation time, 25.42 percent less energy consumption,
and less tracking error compared with the centralized MPC. The controlled
system is implemented in a smart building test bed.
