Rewrite Smith predictor controller and demo for the new Pot/no-Kalman design

temp_controller_smith.py still relied on Kalman filtering and Pot's old
get_temperature_intermediate(), both removed by the recent Pot/Kalman
simplification. Rebuild it using two Pot model copies (zero-delay and
delayed) and the same backward-difference heat rate as temp_controller.py,
combined into the classic Smith correction:
theta_ist = theta_model_fast + (theta_plant - theta_model_delay).

Also fix set_model_power() never being called, so the internal model
actually receives the controller's power output, and fill in
demo_temp_controller_smith.py to exercise it end-to-end with an extra
plot of plant vs. fast-model vs. delayed-model temperature.

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

scripts/demos/pid/demo_temp_controller_smith.py

@@ -2,38 +2,62 @@ import numpy as np
 from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
 from components.plant.pot import Pot
 from components.pid.temp_controller_smith import TempController
-from components.pid.tc_constants import Test
 
 
 if __name__ == '__main__':
-	dt = 1.0
+	ctrl_params = {
+		"Hold": {
+			"kp": 0.4,
+			"ki": 0.0,
+			"kd": 0.0,
+			"kt": 0.0
+		},
+		"Heat": {
+			"kp": 0.08,
+			"ki": 0.008,
+			"kd": 0.0,
+			"kt": 1.5
+		}
+	}
 
+	plant_params = {
+		"theta"		: 20,
+		"C"			: 4190,
+		"M"			: 20,
+		"L"			: 0.2,
+		"Td"		: 30,
+		"kn"		: 0.2,
+		"gain"		: 1.0
+	}
+
+	dt = 1.0
+	k_noise = 0.001
+
+	temp_ist = 0
 	temp_soll = 20
-	ctrl = TempController(dt, Test.tc_ctrl_params, Test.tc_model_params)
-	plant = Pot(dt, Test.tc_pot_params)
+	heatrate_soll = 1.25
+	ctrl = TempController(dt, ctrl_params, plant_params)
+	plant = Pot(dt, plant_params)
 	_y = np.empty(0)
 	_fb = np.empty(0)
 	_t = np.empty(0)
 	_temp_soll = np.empty(0)
-	_temp_ist_kalman = np.empty(0)
-	_heatrate_ist_kalman = np.empty(0)
-	_temp_ist_kalman_plant = np.empty(0)
-	_heatrate_ist_kalman_plant = np.empty(0)
-	_temp_ist_kalman_model = np.empty(0)
-	_heatrate_ist_kalman_model = np.empty(0)
+	_heatrate_ist = np.empty(0)
+	_temp_ist = np.empty(0)
+	_temp_ist_model = np.empty(0)
+	_temp_ist_model_delay = np.empty(0)
 	a = 0.5
 	fb = 0
 	rho = 0.02
 	temps = [{'Temp': 20, 'Duration': 1000}, {'Temp': 40, 'Duration': 1000}, {'Temp': 50, 'Duration': 1000}, {'Temp': 60, 'Duration': 1000}, {'Temp': 70, 'Duration': 1000}, {'Temp': 80, 'Duration': 1000}, {'Temp': 78, 'Duration': 1000}]
 
 	t = 0
-
 	for temp in temps:
 		temp_soll = temp['Temp']
 		hold_counter = temp['Duration']
 		hold = False
 		ctrl.set_theta_soll(temp_soll)
-		ctrl.set_heatrate_soll(1.0)
+		ctrl.set_heatrate_soll(heatrate_soll)
 
 		while True:
 			if hold:
@@ -41,30 +65,32 @@ if __name__ == '__main__':
 					break
 				hold_counter -= 1
 			plant.process()
-			temp_ist = plant.get_temperature()
+			temp_ist = plant.get_temperature() + k_noise * np.random.randn()
 			ctrl.set_theta_ist(temp_ist)
 			ctrl.process()
 
 			y = 3500*ctrl.get_power()
 			power = max(0, y)
 			plant.set_power(power)
+			ctrl.set_model_power(power)
 			fb = plant.get_power()
 			if abs(temp_ist - temp_soll) < 0.1:
 				hold = True
 
+			temp_ist -= rho
+			_temp_ist = np.append(_temp_ist, temp_ist)
+			_temp_soll = np.append(_temp_soll, temp_soll)
 			_y = np.append(_y, y)
 			_fb = np.append(_fb, fb)
 			_t = np.append(_t, t)
-			_temp_soll = np.append(_temp_soll, temp_soll)
-			_temp_ist_kalman_plant = np.append(_temp_ist_kalman_plant, ctrl.theta_ist_plant)
-			_heatrate_ist_kalman_plant = np.append(_heatrate_ist_kalman_plant, max(-1, min(3, ctrl.dtheta_ist_plant)))
-			_temp_ist_kalman_model = np.append(_temp_ist_kalman_model, ctrl.theta_ist_model_delay)
-			_heatrate_ist_kalman_model = np.append(_heatrate_ist_kalman_model, max(-1, min(3, ctrl.dtheta_ist_model_delay)))
+			_heatrate_ist = np.append(_heatrate_ist, max(-1, min(3, ctrl.heatrate_ist)))
+			_temp_ist_model = np.append(_temp_ist_model, ctrl.theta_ist_model)
+			_temp_ist_model_delay = np.append(_temp_ist_model_delay, ctrl.theta_ist_model_delay)
 			t += 1
 
 	figure(1)
 	subplot(3, 1, 1)
-	plot(_t, _temp_ist_kalman_plant, _t, _temp_soll, 'r-', linewidth=1)
+	plot(_t, _temp_ist, _t, _temp_soll, 'r-', linewidth=1)
 	legend(["ist", "soll"])
 	grid(True)
 	subplot(3, 1, 2)
@@ -72,18 +98,13 @@ if __name__ == '__main__':
 	legend(["y", "pot"])
 	grid(True)
 	subplot(3, 1, 3)
-	plot(_t, _heatrate_ist_kalman_plant, '-b', linewidth=1)
+	plot(_t, _heatrate_ist, '-b', linewidth=1)
 	legend(["heatrate"])
 	grid(True)
 
 	figure(2)
-	subplot(2, 1, 1)
-	plot(_t, _temp_ist_kalman_plant, '-b', _t, _temp_ist_kalman_model, 'r-', linewidth=1)
-	legend(["plant", "model"])
-	grid(True)
-	subplot(2, 1, 2)
-	plot(_t, _heatrate_ist_kalman_plant, '-b', _t, _heatrate_ist_kalman_model, '-r', linewidth=1)
-	legend(["plant", "model"])
+	plot(_t, _temp_ist, '-b', _t, _temp_ist_model, '-g', _t, _temp_ist_model_delay, '-r', linewidth=1)
+	legend(["plant", "model (fast)", "model (delayed)"])
 	grid(True)
 	show()