Cardiac ablation devices and systems are disclosed. A system in accordance with the present disclosure comprises an ablation generator, an electronic control unit (ECU), a control system, and a catheter. The catheter comprises at least one ablation electrode, a catheter shaft including a fluid lumen, and a plurality of thermal sensors. The ECU is configured to receive temperature measurement data from the plurality of thermal sensors, determine a power rate delivery value based on the temperature measurement data, and output the power rate delivery value. The control system is configured to receive the power rate delivery value and control energy delivery of the ablation generator based at least in part on the power rate delivery value.