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Discrete system forced_response uses wrong shape for arguments #279

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bnavigator opened this issue Mar 15, 2019 · 0 comments · Fixed by #285
Closed

Discrete system forced_response uses wrong shape for arguments #279

bnavigator opened this issue Mar 15, 2019 · 0 comments · Fixed by #285

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@bnavigator
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forced_response() uses scipy.signal.dlsim() when dealing with a discrete time system. However, since scipy.signal uses a different time-series to channel index convention, the data has to be transposed. This is done correctly for xout and you (fixed in #142) but not for U (and T and X0 but it does not matter for those 1D vectors):

python-control/control/timeresp.py

Lines 323 to 329 in 31e6944

# Discrete time simulation using signal processing toolbox
dsys = (A, B, C, D, sys.dt)
tout, yout, xout = sp.signal.dlsim(dsys, U, T, X0)
# Transpose the output and state vectors to match local convention
xout = sp.transpose(xout)
yout = sp.transpose(yout)

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Fix forced response simulation of discrete time system bnavigator/python-control
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@bnavigator