Drop model_params from base, enable Smith predictor delay correction

TempControllerBase no longer threads model_params through (only the
Smith subclass needs it, for its own Pot model and Kalman filters).

Enable the Smith predictor's actual delay-compensated error term
(theta_err now uses theta_ist_plant - theta_ist_model_delay +
theta_ist_model instead of the plain plant reading), which is the
correction this controller is named for.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

components/pid/temp_controller.py

@@ -7,8 +7,8 @@ import numpy as np
 
 
 class TempController(TempControllerBase):
-	def __init__(self, dt, params, model_params=None):
-		TempControllerBase.__init__(self, dt, params, model_params)
+	def __init__(self, dt, params):
+		TempControllerBase.__init__(self, dt, params)
 		self.kalman = Kalman(dt, params['Kalman'])
 
 	def init_kalman(self, value):