A control system for controlling a heating ventilation and air conditioning, HVAC, system to condition an environment, comprising: an input interface configured to accept an input thermal state at a location of an occupant in the environment; a processor configured to determine a target thermal state at one or multiple air vents connecting the HVAC system to the environment; and determine control commands to one or multiple actuators of the HVAC system producing the target thermal state at the air vents; and a control interface configured to submit the control commands to the actuators of the HVAC system; wherein the processor is configured to determine the target thermal state such that the target thermal state at the air vents results in the input thermal state at the location of the occupant according to an airflow dynamics model, ADM, connecting uneven distribution of thermal states at different locations in the environment; wherein the processor is specifically configured to determine the target thermal state at the air vents based on computational fluid dynamics, CFD, calculation of dynamics of air in the environment using the ADM as a constraint, and the input thermal state at the location of the occupant and the target thermal state at the air vents as boundary conditions on the distribution of thermal states in the environment; characterized in that the processor is configured to determine the control commands by optimizing a cost function of an operation of the HVAC system subject to constraints on the input thermal state at the location of the occupant, constraints on dynamics of the HVAC system represented by an HVAC model, and constraints on dynamics of airflow in the environment represented by the ADM; wherein the HVAC model connects thermal states at the air vents with states of the actuators of the HVAC system. an input interface configured to accept an input thermal state at a location of an occupant in the environment; a processor configured to determine a target thermal state at one or multiple air vents connecting the HVAC system to the environment; and determine control commands to one or multiple actuators of the HVAC system producing the target thermal state at the air vents; and determine a target thermal state at one or multiple air vents connecting the HVAC system to the environment; and determine control commands to one or multiple actuators of the HVAC system producing the target thermal state at the air vents; and a control interface configured to submit the control commands to the actuators of the HVAC system; wherein the processor is configured to determine the target thermal state such that the target thermal state at the air vents results in the input thermal state at the location of the occupant according to an airflow dynamics model, ADM, connecting uneven distribution of thermal states at different locations in the environment; wherein the processor is specifically configured to determine the target thermal state at the air vents based on computational fluid dynamics, CFD, calculation of dynamics of air in the environment using the ADM as a constraint, and the input thermal state at the location of the occupant and the target thermal state at the air vents as boundary conditions on the distribution of thermal states in the environment; characterized in that the processor is configured to determine the control commands by optimizing a cost function of an operation of the HVAC system subject to constraints on the input thermal state at the location of the occupant, constraints on dynamics of the HVAC system represented by an HVAC model, and constraints on dynamics of airflow in the environment represented by the ADM; wherein the HVAC model connects thermal states at the air vents with states of the actuators of the HVAC system.