diff --git a/components/pid/temp_controller_smith.py b/components/pid/temp_controller_smith.py
index d5096c5..724413a 100755
--- a/components/pid/temp_controller_smith.py
+++ b/components/pid/temp_controller_smith.py
@@ -144,6 +144,9 @@ class TempController(APid):
 		if state_next != self.state:
 			self.state = state_next
 			print("New state = {}".format(state_next))
+			if state_next == States.HEAT:
+				self.kalman_plant.initial((self.theta_ist, 0))
+				self.kalman_model.initial((self.theta_ist, 0))
 
 	def process_pid(self, theta_err, heatrate_err):
 		self.pid_hold.process(theta_err, -self.theta_ist)