Slew rate limiter - Python implementation

slew_rate_limiter.py

class SlewRateLimiter:
    def __init__(self, slew_rate, neg_slew_rate=None, t_init=0, y_init=0.0):
        self.slew_rate = slew_rate
        if neg_slew_rate is None:
            self.neg_slew_rate = -slew_rate
        else:
            self.neg_slew_rate = neg_slew_rate
        self.t = t_init
        self.y = y_init

    def process(self, t, y):
        delta_t = t - self.t
        if delta_t != 0:
            rate = (y - self.y) / delta_t
            clamped_rate = clamp(rate, self.neg_slew_rate, self.slew_rate)
            new_y = self.y + clamped_rate * delta_t
        else:
            new_y = y
        self.t = t
        self.y = new_y
        return new_y


import numpy as np
import matplotlib.pyplot as plt

T = np.arange(start=-1.0, stop=10.0, step=0.01)
t0, t1 = 1.0, 6.0
U = U0 * (np.heaviside(T - t0, 0.5) - np.heaviside(T - t1, 0.5))
slew_rate = SlewRateLimiter(1.0, neg_slew_rate=-0.75)
Y = []
for i, t in enumerate(T):
    Y.append(slew_rate.process(t, U[i]))
plt.plot(T, U, label="u")
plt.plot(T, Y, label="y", linestyle='--')
plt.xlabel("Temps (s)")
plt.ylabel("Signal")
plt.legend()