Struct TransferFunction 

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

SISO transfer function defined by numerator and denominator polynomials (descending powers).

Fields

num: Vec<f64>

Numerator polynomial coefficients (highest power first).

den: Vec<f64>

Denominator polynomial coefficients (highest power first).

Implementations

impl TransferFunction

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

Create a new transfer function.

pub fn from_pid(kp: f64, ki: f64, kd: f64) -> Self

Create from PID parameters: H(s) = kds^2 + kps + ki / s.

pub fn frequency_response(&self, omega: f64) -> (f64, f64)

Evaluate H(jω) and return (magnitude, phase_deg).

pub fn dc_gain(&self) -> f64

DC gain (ω → 0), i.e., H(0).

pub fn poles(&self) -> Vec<f64>

Compute poles (roots of denominator) using companion matrix eigenvalues (only real poles for now via Durand-Kerner).

pub fn zeros(&self) -> Vec<f64>

Compute zeros (roots of numerator).

Trait Implementations

impl Clone for TransferFunction

fn clone(&self) -> TransferFunction

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for TransferFunction

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

Formats the value using the given formatter.