fix bug in the way inputs were stored for MIMO step_response

murrayrm · murrayrm · commit de386129d116 · 2023-06-20T23:32:08.000-07:00
diff --git a/control/tests/timeresp_test.py b/control/tests/timeresp_test.py
@@ -344,6 +344,15 @@ def test_step_response_mimo(self, tsystem):
         np.testing.assert_array_almost_equal(y_00, yref, decimal=4)
         np.testing.assert_array_almost_equal(y_11, yref, decimal=4)
 
+        # Make sure we get the same result using MIMO step response
+        response = step_response(sys, T=t)
+        np.testing.assert_allclose(response.y[0, 0, :], y_00)
+        np.testing.assert_allclose(response.y[1, 1, :], y_11)
+        np.testing.assert_allclose(response.u[0, 0, :], 1)
+        np.testing.assert_allclose(response.u[1, 0, :], 0)
+        np.testing.assert_allclose(response.u[0, 1, :], 0)
+        np.testing.assert_allclose(response.u[1, 1, :], 1)
+
     @pytest.mark.parametrize("tsystem", ["mimo_ss1"], indirect=True)
     def test_step_response_return(self, tsystem):
         """Verify continuous and discrete time use same return conventions."""
diff --git a/control/timeresp.py b/control/timeresp.py
@@ -1363,7 +1363,7 @@ def step_response(sys, T=None, X0=0, input=None, output=None, T_num=None,
         yout[:, inpidx, :] = response.y if output is None \
             else response.y[output]
         xout[:, inpidx, :] = response.x
-        uout[:, inpidx, :] = U[i]
+        uout[:, inpidx, :] = U if input is None else U[i]
 
     # Figure out if the system is SISO or not
     issiso = sys.issiso() or (input is not None and output is not None)
