A thermal conditioning system for controlling a thermal comfort of an occupant of a building includes a vapor compression system to control an air temperature in the building space and a radiant system to control a radiant temperature in the building space. The system also includes a feedback controller to generate a first control signal for controlling a state of the vapor compression system to reduce an error between a set-point air temperature and a current air temperature in the building space and includes a feedforward controller to generate a second control signal control for controlling a state of the radiant system based on the state of the vapor compression system.