diff --git a/control/iosys.py b/control/iosys.py
index 1fed5c90f..c8e921c90 100644
--- a/control/iosys.py
+++ b/control/iosys.py
@@ -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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