A cascaded control system configured to modify an environmental condition of a building includes a valve configured to regulate a flow of a fluid through a conduit, an actuator including a motor and a drive device, and a communications mechanism. The communications mechanism is configured to receive a flow rate setpoint from an external control device of an outer control loop. The cascaded control system further includes a processing circuit coupled to the motor and the communications mechanism. The processing circuit is configured to determine an actuator position setpoint using a cascaded feedback control mechanism based on the flow rate setpoint and a flow rate measurement from a flow rate sensor of an inner control loop and to operate the motor to drive the drive device to the actuator position setpoint.