A metamaterial waveguide structure is disclosed. In some approaches the metamaterial waveguide structure is compressed along an optical axis using transformation optics techniques. An example is a Rotman lens that is compressed by 27 percent along the optical axis while maintaining the beam steering range, gain and side lobe amplitudes over a broad frequency range. In some approaches the metamaterial waveguide structure includes a plurality of complementary metamaterial elements patterned on a conducting surface of the waveguide.