Struct LeadLagCompensator 

pub struct LeadLagCompensator {
    pub kc: f64,
    pub z: f64,
    pub p: f64,
}

Lead or lag compensator: C(s) = Kc * (s + z) / (s + p).

• Lead compensator: z < p (adds phase lead, improves transient response)
• Lag compensator: z > p (reduces steady-state error)

Fields

kc: f64

DC gain Kc.

z: f64

Zero location z (s + z in numerator).

p: f64

Pole location p (s + p in denominator).

Implementations

impl LeadLagCompensator

pub fn new(kc: f64, z: f64, p: f64) -> Self

Create a lead/lag compensator.

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

Evaluate C(jω): returns (magnitude, phase_degrees).

pub fn max_phase_lead(&self) -> (f64, f64)

Maximum phase lead (degrees) and frequency at which it occurs. Only meaningful for lead compensators (z < p).

pub fn dc_gain(&self) -> f64

DC gain C(0) = Kc * z / p.

pub fn hf_gain(&self) -> f64

High-frequency gain C(j∞) → Kc.

pub fn bode(&self, omega_min: f64, omega_max: f64, n: usize) -> Vec<BodePoint>

Bode plot at logarithmically-spaced frequencies.

Trait Implementations

impl Clone for LeadLagCompensator

fn clone(&self) -> LeadLagCompensator

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for LeadLagCompensator

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

Formats the value using the given formatter.

impl Copy for LeadLagCompensator