Bugfix in matrix multiplication in output computation in iosys.LinearIOSystem

francescoseccamonte · francescoseccamonte · commit a995655ec55f · 2020-02-20T18:26:49.000-08:00
diff --git a/control/iosys.py b/control/iosys.py
@@ -656,8 +656,10 @@ def _rhs(self, t, x, u):
         return np.array(xdot).reshape((-1,))
 
     def _out(self, t, x, u):
-        y = self.C * np.reshape(x, (-1, 1)) + self.D * np.reshape(u, (-1, 1))
-        return np.array(y).reshape((self.noutputs,))
+        # Convert input to column vector and then change output to 1D array
+        y = np.dot(self.C, np.reshape(x, (-1, 1))) \
+            + np.dot(self.D, np.reshape(u, (-1, 1)))
+        return np.array(y).reshape((-1,))
 
 
 class NonlinearIOSystem(InputOutputSystem):
