A system that modifies an environmental condition of a building zone is provided. The system includes an airside processing circuit and a waterside processing circuit. The airside processing circuit drives a damper actuator to a first setpoint based on an air flow rate setpoint and a first pressure measurement, receives an air flow error signal based on the air flow rate setpoint and a second pressure measurement, determines a setpoint based on the air flow error signal, and drives the damper actuator to the second setpoint. The waterside processing circuit drives a valve actuator to a first setpoint based on a fluid flow rate setpoint and a first flow rate measurement, receives a fluid flow error signal based on the fluid flow rate setpoint and a second flow rate measurement, determines a second setpoint based on the fluid flow error signal, and drives the valve actuator to the second setpoint.