Why do you want them to be controlled separately? All this would do is decrease efficiency, and increase the risk of defrosting problems in winter due to lack of water volume.
Your current setup, with open-loop and no TMV or secondary pump on the UFH, is best-practice for achieving best comfort and efficiency... providing that the emitters have been sized/specified correctly!
From everything you've said, it sounds like the system is probably designed and installed well enough, but the radiator circuit has likely not been balanced/commissioned fully, causing the rooms with radiators to undershoot the target temps. I'd advise getting the installer to balance the whole system, then tweak the heat curve setting to achieve suitable flow temps which keep all rooms at their intended temps. I really wouldn't recommend installing any kind of zoning control, or thermostatic mixer on the UFH, this would only increase running costs.