In this paper we consider control-oriented modeling of a sensible thermal energy storage (TES) tank with a helical immersed heat exchanger (IHX) coil. A key focus of the modeling approach is to minimize the number of dynamic states required to adequately describe the system dynamics. The resulting model is well-suited for model-based control design, real-time simulation, and hardware-in-the-loop testing aimed at intelligent operation of TES systems. We use a discretized approach to model the temperature dynamics of the water within the storage tank. We use a quasi-steady approach to model the IHX coil dynamics, thereby limiting computational complexity. In simulation, the model runs up to 1200x faster than real-time. A simulated case study of model-based feedback control demonstrates the utility of the modeling approach. The model contains four tuning parameters that are empirically determined using experimental data collected from a commercially available domestic hot water storage tank. The model is then validated, both temporally and spatially, against data collected during the simultaneous charge! discharge mode. Finally, we quantify the trade-off between model fidelity and increased control volume discretization, showing that a 60 node model yields a RMSE value under 4.5%. (C) 2017 Elsevier Ltd. All rights reserved.