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extrapolation in ufun throwed errors #682

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Merged
merged 3 commits into from
Dec 26, 2021
Merged

extrapolation in ufun throwed errors #682

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306a216
extrapolation in ufun throwed errors
miroslavfikar Dec 12, 2021
5a75ca0
update iosys ufun to extrapolate
murrayrm Dec 26, 2021
9bd61b0
Merge branch 'python-control:master' into mifi_ufun
miroslavfikar Dec 26, 2021
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11 changes: 4 additions & 7 deletions control/iosys.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1852,13 +1852,10 @@ def input_output_response(
# but has a lot less overhead => simulation runs much faster
def ufun(t):
# Find the value of the index using linear interpolation
idx = np.searchsorted(T, t, side='left')
if idx == 0:
# For consistency in return type, multiple by a float
return U[..., 0] * 1.
else:
dt = (t - T[idx-1]) / (T[idx] - T[idx-1])
return U[..., idx-1] * (1. - dt) + U[..., idx] * dt
# Use clip to allow for extrapolation if t is out of range
idx = np.clip(np.searchsorted(T, t, side='left'), 1, len(T)-1)
dt = (t - T[idx-1]) / (T[idx] - T[idx-1])
return U[..., idx-1] * (1. - dt) + U[..., idx] * dt

# Create a lambda function for the right hand side
def ivp_rhs(t, x):
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