A controller is provided for building equipment including a plurality of devices that operate in parallel to affect an environmental condition of a building. The controller includes one or more processing circuits including one or more processors and memory. The memory store instructions that, when executed by the one or more processors, cause the one or more processors to perform operations. The operations include lowering an upper bound or raising a lower bound of one or more constraints based on a minimum off schedule or a minimum on schedule for the building equipment, performing an optimization of an objective function subject to the one or more constraints to generate control decisions for the building equipment, and operating the building equipment in accordance with the control decisions to affect the environmental condition of the building.