src/
├── battery/                       # Battery management systems
│   └── soc                        # State of Charge (SoC) estimation using EKF
│
├── control/                       # Control algorithms
│   ├── cntl_2p2z.rs               # 2-pole 2-zero controller
│   ├── cntl_3p3z.rs               # 3-pole 3-zero controller
│   ├── cntl_pi.rs                 # Proportional-Integral (PI) controller
│   └── cntl_pid.rs                # Proportional-Integral-Derivative (PID) controller
│
├── filter/                        # Digital filters
│   ├── butterworth_hpf.rs         # Butterworth high-pass filter
│   ├── butterworth_lpf.rs         # Butterworth low-pass filter
│   ├── chebyshev_hpf.rs           # Chebyshev high-pass filter
│   └── chebyshev_lpf.rs           # Chebyshev low-pass filter
│
├── lib.rs                         # Crate root and public API
│
├── modulation/                    # Modulation techniques
│   └── svpwm.rs                   # Space Vector PWM implementation
│
├── motor_control/                 # Motor control algorithms
│   └── foc.rs                     # Field-Oriented Control (FOC)
│
├── mppt/                          # Maximum Power Point Tracking (MPPT)
│   ├── incremental_conductance.rs # Incremental Conductance algorithm
│   └── perturb_and_observe.rs     # Perturb & Observe algorithm
│
├── pll/                           # Phase-Locked Loops (PLL)
│   └── spll_1ph_sogi.rs           # Single-phase SOGI-based PLL
│
├── signal/                        # Signal processing utilities
│   └── signal.rs                  # Signal utility functions
│
├── system/                        # System-level implementations
│   ├── bms/                       # Battery Management System
│   ├── ess/                       # Energy Storage System
│   └── ups/                       # Uninterruptible Power Supply
│       ├── off_grid/
│       └── on_grid/
│
└── transform/                     # Power system transforms
    ├── abc_dq0.rs                 # ABC to DQ0 transformation
    ├── clarke.rs                  # Clarke transform
    ├── dq0_abc.rs                 # DQ0 to ABC transformation
    ├── iclarke.rs                 # Inverse Clarke transform
    ├── ipark.rs                   # Inverse Park transform
    └── park.rs                    # Park transform