This paper surveys past and current research of optimal control for central chilled water plants with ice thermal energy storage. The motivation for thermal energy storage in commercial buildings is provided and common operating strategies for ice storage including their implementation are presented. The concept of optimality serves as the basis for introducing the various approaches to optimal control of thermal energy storage. Optimal strategies minimizing either energy or demand costs, near-optimal rule based control minimizing total cost, comfort-based energy optimal control, and combined optimal sizing and energy cost optimal control are discussed and contrasted with mathematically non-optimal, but heuristically improved operating strategies. Fully optimal control based on perfect knowledge is introduced and subsequent developments of predictive optimal control subject to uncertain weather, load, and utility rate information illustrated. In addition, recent investigations of adaptive optimal reinforcement learning based control are presented.