Struct RootLocus 

pub struct RootLocus {
    pub num: Vec<f64>,
    pub den: Vec<f64>,
}

Root locus computation: closed-loop poles as a function of gain K.

For open-loop transfer function G(s) = num(s)/den(s), the closed-loop poles satisfy: den(s) + K*num(s) = 0.

Fields

num: Vec<f64>

Numerator polynomial coefficients (descending order).

den: Vec<f64>

Denominator polynomial coefficients (descending order).

Implementations

impl RootLocus

pub fn new(num: Vec<f64>, den: Vec<f64>) -> Self

Create a root locus object.

pub fn compute(&self, gains: &[f64]) -> Vec<RootLocusPoint>

Compute closed-loop poles for each gain in gains.

Uses companion matrix eigenvalue approach for small polynomials (degree ≤ 4). For the characteristic equation den(s) + K*num(s) = 0, forms the combined polynomial.

pub fn poles_at_gain(&self, k: f64) -> Vec<(f64, f64)>

Compute closed-loop poles for a specific gain K.

Characteristic polynomial = den + K*num. Pads/truncates to match degree. Returns (re, im) pairs.

pub fn breakaway_points( &self, s_min: f64, s_max: f64, n_samples: usize, ) -> Vec<f64>

Compute breakaway points (real-axis segments, ∂K/∂s = 0). Returns approximate breakaway points on the real axis.

Trait Implementations

impl Clone for RootLocus

fn clone(&self) -> RootLocus

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for RootLocus

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.