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Fix forced_response time inference for transposed inputs #1229

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Fix forced_response time inference for transposed inputs #1229

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11 changes: 11 additions & 0 deletions control/tests/timeresp_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1245,6 +1245,17 @@ def test_response_transpose(
assert y.shape == ysh_no
assert x.shape == (T.size, sys.nstates)

def test_forced_response_transpose_without_time_vector(self):
sys = ct.ss(
[[0.5]], [[1.0, -0.25]], [[1.0]], [[0.0, 0.0]], dt=True)
U = np.column_stack((np.arange(5.0), np.arange(5.0) + 10))

response = ct.forced_response(sys, inputs=U, transpose=True)

np.testing.assert_allclose(response.time, np.arange(U.shape[0]))
np.testing.assert_allclose(response.inputs, U)
assert response.outputs.shape == (U.shape[0], sys.noutputs)


@pytest.mark.pandas
def test_to_pandas():
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2 changes: 1 addition & 1 deletion control/timeresp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1112,7 +1112,7 @@ def forced_response(
raise ValueError('Parameters `T` and `U` can\'t both be '
'zero for discrete-time simulation')
# Set T to equally spaced samples with same length as U
if U.ndim == 1:
if U.ndim == 1 or transpose:
n_steps = U.shape[0]
else:
n_steps = U.shape[1]
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