US Patent 10088814 System identification and model development

A controller for a building system receives training data that includes input data and output data. The output data measures a state of the building system affected by both the input data and an extraneous disturbance. The controller performs a two-stage optimization process to identify system parameters and Kalman gain parameters of a dynamic model for the building system. During the first stage, the controller filters the training data to remove an effect of the extraneous disturbance from the output data and uses the filtered training data to identify the system parameters. During the second stage, the controller uses the non-filtered training data to identify the Kalman gain parameters. The controller uses the dynamic model with the identified system parameters and Kalman gain parameters to generate a setpoint for the building system. The building system uses the setpoint to affect the state measured by the output data.