Improving the air quality and preserving the residents’ comfort are the main tasks of HVAC (heating, ventilation, and air conditioning) systems in different buildings. A large number of control methods have been applied to HVAC systems to adjust the indoor temperature of buildings and at the same time to minimize the energy consumption and the energy cost, to reduce the peak load of the grid, and to provide ancillary services such as frequency regulation. This paper reviews different techniques proposed for HVAC systems modeling. Then, the HVAC system control methods are reviewed comprehensively and the main features of them are extracted. Furthermore, an HVAC system model is proposed and the performance of it is compared with the RLF (residential load factor) model with and without applying the Takagi-Sugeno Fuzzy (TSF) controller. The simulation results are obtained and analyzed for the proposed HVAC system and the RLF model from different aspects. The results demonstrate the efficiency and robustness of the proposed model. Moreover, the energy consumption of an HVAC system, controlled by a TSF controller, along a day is evaluated. The results show an energy saving of 10.06% of the proposed HVAC system as compared with the RLF model. © 2022 Journal of Energy Management and Technology