diff --git a/control/nlsys.py b/control/nlsys.py
index c154c0818..38efea355 100644
--- a/control/nlsys.py
+++ b/control/nlsys.py
@@ -706,10 +706,10 @@ def __init__(self, syslist, connections=None, inplist=None, outlist=None,
# Create updfcn and outfcn
def updfcn(t, x, u, params):
- self.update_params(params)
+ self._update_params(params)
return self._rhs(t, x, u)
def outfcn(t, x, u, params):
- self.update_params(params)
+ self._update_params(params)
return self._out(t, x, u)
# Initialize NonlinearIOSystem object
diff --git a/control/tests/interconnect_test.py b/control/tests/interconnect_test.py
index 285e9d096..f4b0c59a8 100644
--- a/control/tests/interconnect_test.py
+++ b/control/tests/interconnect_test.py
@@ -16,6 +16,7 @@
import numpy as np
import scipy as sp
+import math
import control as ct
@@ -659,3 +660,32 @@ def test_interconnect_rewrite():
outputs=['y', 'z'])
assert icsys.input_labels == ['u[0]', 'u[1]', 'w[0]', 'w[1]']
+
+
+def test_interconnect_params():
+ # Create a nominally unstable system
+ sys1 = ct.nlsys(
+ lambda t, x, u, params: params['a'] * x[0] + u[0],
+ states=1, inputs='u', outputs='y', params={'a': 1})
+
+ # Simple system for serial interconnection
+ sys2 = ct.nlsys(
+ None, lambda t, x, u, params: u[0],
+ inputs='r', outputs='u')
+
+ # Create a series interconnection
+ sys = ct.interconnect([sys1, sys2], inputs='r', outputs='y')
+
+ # Make sure we can call the update function
+ sys.updfcn(0, [0], [0], {})
+
+ # Make sure the serial interconnection is unstable to start
+ assert sys.linearize([0], [0]).poles()[0].real == 1
+
+ # Change the parameter and make sure it takes
+ assert sys.linearize([0], [0], params={'a': -1}).poles()[0].real == -1
+
+ # Now try running a simulation
+ timepts = np.linspace(0, 10)
+ resp = ct.input_output_response(sys, timepts, 0, params={'a': -1})
+ assert resp.states[0, -1].item() < 2 * math.exp(-10)
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