Models a 3-unit industrial continuous process: Buffer Tank 1 (gravity-drained liquid level), Continuously Stirred Tank Reactor CSTR 2 (thermal dynamics with steam jacket & cooling coil), and Chemical Mixer 3 (variable-frequency drive agitator).
Implements deterministic cyclic scan execution (20 ms scan period) simulating standard industrial programmable logic controllers. Exposes 100% compliant Modbus TCP register map (Holding Registers 40001-40010, Input Registers 30001-30010, Discrete Inputs & Coils).
Discrete velocity-form PID algorithms regulate Tank 1 Level (LIC-101) and Reactor Temperature (TIC-201) with conditional integration anti-windup clamping and derivative filtering (N = 10) to prevent actuator saturation.