python-control
diff --git a/‎control/bdalg.py
Lines changed: 2 additions & 2 deletions b/‎control/bdalg.py
Lines changed: 2 additions & 2 deletions
diff --git a/‎control/descfcn.py
Lines changed: 3 additions & 3 deletions b/‎control/descfcn.py
Lines changed: 3 additions & 3 deletions
diff --git a/‎control/freqplot.py
Lines changed: 25 additions & 19 deletions b/‎control/freqplot.py
Lines changed: 25 additions & 19 deletions
diff --git a/‎control/lti.py
Lines changed: 1 addition & 1 deletion b/‎control/lti.py
Lines changed: 1 addition & 1 deletion
diff --git a/‎control/modelsimp.py
Lines changed: 1 addition & 1 deletion b/‎control/modelsimp.py
Lines changed: 1 addition & 1 deletion
diff --git a/‎control/nlsys.py
Lines changed: 58 additions & 36 deletions b/‎control/nlsys.py
Lines changed: 58 additions & 36 deletions
@@ -201,11 +201,11 @@ def negate(sys):
     --------
     >>> G = ct.tf([2], [1, 1])
     >>> G.dcgain()
-    2.0
+    np.float64(2.0)
 
     >>> Gn = ct.negate(G) # Same as sys2 = -sys1.
     >>> Gn.dcgain()
-    -2.0
+    np.float64(-2.0)
 
     """
     return -sys
 
@@ -525,11 +525,11 @@ class saturation_nonlinearity(DescribingFunctionNonlinearity):
     --------
     >>> nl = ct.saturation_nonlinearity(5)
     >>> nl(1)
-    1
+    np.int64(1)
     >>> nl(10)
-    5
+    np.int64(5)
     >>> nl(-10)
-    -5
+    np.int64(-5)
 
     """
     def __init__(self, ub=1, lb=None):
 
@@ -1919,7 +1919,7 @@ def _parse_linestyle(style_name, allow_false=False):
 # Internal function to add arrows to a curve
 def _add_arrows_to_line2D(
         axes, line, arrow_locs=[0.2, 0.4, 0.6, 0.8],
-        arrowstyle='-|>', arrowsize=1, dir=1, transform=None):
+        arrowstyle='-|>', arrowsize=1, dir=1):
     """
     Add arrows to a matplotlib.lines.Line2D at selected locations.
 
@@ -1930,7 +1930,6 @@ def _add_arrows_to_line2D(
     arrow_locs: list of locations where to insert arrows, % of total length
     arrowstyle: style of the arrow
     arrowsize: size of the arrow
-    transform: a matplotlib transform instance, default to data coordinates
 
     Returns:
     --------
@@ -1939,13 +1938,13 @@ def _add_arrows_to_line2D(
     Based on https://stackoverflow.com/questions/26911898/
 
     """
+    # Get the coordinates of the line, in plot coordinates
     if not isinstance(line, mpl.lines.Line2D):
         raise ValueError("expected a matplotlib.lines.Line2D object")
     x, y = line.get_xdata(), line.get_ydata()
 
-    arrow_kw = {
-        "arrowstyle": arrowstyle,
-    }
+    # Determine the arrow properties
+    arrow_kw = {"arrowstyle": arrowstyle}
 
     color = line.get_color()
     use_multicolor_lines = isinstance(color, np.ndarray)
@@ -1960,36 +1959,43 @@ def _add_arrows_to_line2D(
     else:
         arrow_kw['linewidth'] = linewidth
 
-    if transform is None:
-        transform = axes.transData
+    # Figure out the size of the axes (length of diagonal)
+    xlim, ylim = axes.get_xlim(), axes.get_ylim()
+    ul, lr = np.array([xlim[0], ylim[0]]), np.array([xlim[1], ylim[1]])
+    diag = np.linalg.norm(ul - lr)
 
     # Compute the arc length along the curve
     s = np.cumsum(np.sqrt(np.diff(x) ** 2 + np.diff(y) ** 2))
 
+    # Truncate the number of arrows if the curve is short
+    # TODO: figure out a smarter way to do this
+    frac = min(s[-1] / diag, 1)
+    if len(arrow_locs) and frac < 0.05:
+        arrow_locs = []         # too short; no arrows at all
+    elif len(arrow_locs) and frac < 0.2:
+        arrow_locs = [0.5]      # single arrow in the middle
+
+    # Plot the arrows (and return list if patches)
     arrows = []
     for loc in arrow_locs:
         n = np.searchsorted(s, s[-1] * loc)
 
-        # Figure out what direction to paint the arrow
-        if dir == 1:
-            arrow_tail = (x[n], y[n])
-            arrow_head = (np.mean(x[n:n + 2]), np.mean(y[n:n + 2]))
-        elif dir == -1:
-            # Orient the arrow in the other direction on the segment
-            arrow_tail = (x[n + 1], y[n + 1])
-            arrow_head = (np.mean(x[n:n + 2]), np.mean(y[n:n + 2]))
-        else:
-            raise ValueError("unknown value for keyword 'dir'")
+        if dir == 1 and n == 0:
+            # Move the arrow forward by one if it is at start of a segment
+            n = 1
+
+        # Place the head of the arrow at the desired location
+        arrow_head = [x[n], y[n]]
+        arrow_tail = [x[n - dir], y[n - dir]]
 
         p = mpl.patches.FancyArrowPatch(
-            arrow_tail, arrow_head, transform=transform, lw=0,
+            arrow_tail, arrow_head, transform=axes.transData, lw=0,
             **arrow_kw)
         axes.add_patch(p)
         arrows.append(p)
     return arrows
 
 
-
 #
 # Function to compute Nyquist curve offsets
 #
 
@@ -525,7 +525,7 @@ def dcgain(sys):
     --------
     >>> G = ct.tf([1], [1, 2])
     >>> ct.dcgain(G)                                            # doctest: +SKIP
-    0.5
+    np.float(0.5)
 
     """
     return sys.dcgain()
 
@@ -87,7 +87,7 @@ def hsvd(sys):
     >>> G = ct.tf2ss([1], [1, 2])
     >>> H = ct.hsvd(G)
     >>> H[0]
-    0.25
+    np.float64(0.25)
 
     """
     # TODO: implement for discrete time systems
 
@@ -18,16 +18,17 @@
 
 """
 
-import numpy as np
-import scipy as sp
 import copy
 from warnings import warn
 
+import numpy as np
+import scipy as sp
+
 from . import config
-from .iosys import InputOutputSystem, _process_signal_list, \
-    _process_iosys_keywords, isctime, isdtime, common_timebase, _parse_spec
-from .timeresp import _check_convert_array, _process_time_response, \
-    TimeResponseData
+from .iosys import InputOutputSystem, _parse_spec, _process_iosys_keywords, \
+    _process_signal_list, common_timebase, isctime, isdtime
+from .timeresp import TimeResponseData, _check_convert_array, \
+    _process_time_response
 
 __all__ = ['NonlinearIOSystem', 'InterconnectedSystem', 'nlsys',
            'input_output_response', 'find_eqpt', 'linearize',
@@ -132,13 +133,15 @@ def __init__(self, updfcn, outfcn=None, params=None, **kwargs):
         if updfcn is None:
             if self.nstates is None:
                 self.nstates = 0
+                self.updfcn = lambda t, x, u, params: np.zeros(0)
             else:
                 raise ValueError(
                     "states specified but no update function given.")
 
         if outfcn is None:
-            # No output function specified => outputs = states
-            if self.noutputs is None and self.nstates is not None:
+            if self.noutputs == 0:
+                self.outfcn = lambda t, x, u, params: np.zeros(0)
+            elif self.noutputs is None and self.nstates is not None:
                 self.noutputs = self.nstates
             elif self.noutputs is not None and self.noutputs == self.nstates:
                 # Number of outputs = number of states => all is OK
@@ -364,9 +367,8 @@ def _rhs(self, t, x, u):
         user-friendly interface you may want to use :meth:`dynamics`.
 
         """
-        xdot = self.updfcn(t, x, u, self._current_params) \
-            if self.updfcn is not None else []
-        return np.array(xdot).reshape((-1,))
+        return np.asarray(
+            self.updfcn(t, x, u, self._current_params)).reshape(-1)
 
     def dynamics(self, t, x, u, params=None):
         """Compute the dynamics of a differential or difference equation.
@@ -403,7 +405,8 @@ def dynamics(self, t, x, u, params=None):
         dx/dt or x[t+dt] : ndarray
         """
         self._update_params(params)
-        return self._rhs(t, x, u)
+        return self._rhs(
+            t, np.asarray(x).reshape(-1), np.asarray(u).reshape(-1))
 
     def _out(self, t, x, u):
         """Evaluate the output of a system at a given state, input, and time
@@ -414,9 +417,17 @@ def _out(self, t, x, u):
         :meth:`output`.
 
         """
-        y = self.outfcn(t, x, u, self._current_params) \
-            if self.outfcn is not None else x
-        return np.array(y).reshape((-1,))
+        #
+        # To allow lazy evaluation of the system size, we allow for the
+        # possibility that noutputs is left unspecified when the system
+        # is created => we have to check for that case here (and return
+        # the system state or a portion of it).
+        #
+        if self.outfcn is None:
+            return x if self.noutputs is None else x[:self.noutputs]
+        else:
+            return np.asarray(
+                self.outfcn(t, x, u, self._current_params)).reshape(-1)
 
     def output(self, t, x, u, params=None):
         """Compute the output of the system
@@ -444,7 +455,8 @@ def output(self, t, x, u, params=None):
         y : ndarray
         """
         self._update_params(params)
-        return self._out(t, x, u)
+        return self._out(
+            t, np.asarray(x).reshape(-1), np.asarray(u).reshape(-1))
 
     def feedback(self, other=1, sign=-1, params=None):
         """Feedback interconnection between two input/output systems
@@ -517,14 +529,13 @@ def linearize(self, x0, u0, t=0, params=None, eps=1e-6,
         # numerical linearization use the `_rhs()` and `_out()` member
         # functions.
         #
-
         # If x0 and u0 are specified as lists, concatenate the elements
         x0 = _concatenate_list_elements(x0, 'x0')
         u0 = _concatenate_list_elements(u0, 'u0')
 
         # Figure out dimensions if they were not specified.
-        nstates = _find_size(self.nstates, x0)
-        ninputs = _find_size(self.ninputs, u0)
+        nstates = _find_size(self.nstates, x0, "states")
+        ninputs = _find_size(self.ninputs, u0, "inputs")
 
         # Convert x0, u0 to arrays, if needed
         if np.isscalar(x0):
@@ -533,7 +544,7 @@ def linearize(self, x0, u0, t=0, params=None, eps=1e-6,
             u0 = np.ones((ninputs,)) * u0
 
         # Compute number of outputs by evaluating the output function
-        noutputs = _find_size(self.noutputs, self._out(t, x0, u0))
+        noutputs = _find_size(self.noutputs, self._out(t, x0, u0), "outputs")
 
         # Update the current parameters
         self._update_params(params)
@@ -1306,7 +1317,7 @@ def nlsys(
 
 
 def input_output_response(
-        sys, T, U=0., X0=0, params=None,
+        sys, T, U=0., X0=0, params=None, ignore_errors=False,
         transpose=False, return_x=False, squeeze=None,
         solve_ivp_kwargs=None, t_eval='T', **kwargs):
     """Compute the output response of a system to a given input.
@@ -1382,6 +1393,11 @@ def input_output_response(
         to 'RK45'.
     solve_ivp_kwargs : dict, optional
         Pass additional keywords to :func:`scipy.integrate.solve_ivp`.
+    ignore_errors : bool, optional
+        If ``False`` (default), errors during computation of the trajectory
+        will raise a ``RuntimeError`` exception.  If ``True``, do not raise
+        an exception and instead set ``results.success`` to ``False`` and
+        place an error message in ``results.message``.
 
     Raises
     ------
@@ -1516,7 +1532,7 @@ def input_output_response(
         X0 = np.hstack([X0, np.zeros(sys.nstates - X0.size)])
 
     # Compute the number of states
-    nstates = _find_size(sys.nstates, X0)
+    nstates = _find_size(sys.nstates, X0, "states")
 
     # create X0 if not given, test if X0 has correct shape
     X0 = _check_convert_array(X0, [(nstates,), (nstates, 1)],
@@ -1583,7 +1599,11 @@ def ivp_rhs(t, x):
             ivp_rhs, (T0, Tf), X0, t_eval=t_eval,
             vectorized=False, **solve_ivp_kwargs)
         if not soln.success:
-            raise RuntimeError("solve_ivp failed: " + soln.message)
+            message = "solve_ivp failed: " + soln.message
+            if not ignore_errors:
+                raise RuntimeError(message)
+        else:
+            message = None
 
         # Compute inputs and outputs for each time point
         u = np.zeros((ninputs, len(soln.t)))
@@ -1639,7 +1659,7 @@ def ivp_rhs(t, x):
         u = np.transpose(np.array(u))
 
         # Mark solution as successful
-        soln.success = True     # No way to fail
+        soln.success, message = True, None      # No way to fail
 
     else:                       # Neither ctime or dtime??
         raise TypeError("Can't determine system type")
@@ -1649,7 +1669,8 @@ def ivp_rhs(t, x):
         output_labels=sys.output_labels, input_labels=sys.input_labels,
         state_labels=sys.state_labels, sysname=sys.name,
         title="Input/output response for " + sys.name,
-        transpose=transpose, return_x=return_x, squeeze=squeeze)
+        transpose=transpose, return_x=return_x, squeeze=squeeze,
+        success=soln.success, message=message)
 
 
 def find_eqpt(sys, x0, u0=None, y0=None, t=0, params=None,
@@ -1732,9 +1753,9 @@ def find_eqpt(sys, x0, u0=None, y0=None, t=0, params=None,
     from scipy.optimize import root
 
     # Figure out the number of states, inputs, and outputs
-    nstates = _find_size(sys.nstates, x0)
-    ninputs = _find_size(sys.ninputs, u0)
-    noutputs = _find_size(sys.noutputs, y0)
+    nstates = _find_size(sys.nstates, x0, "states")
+    ninputs = _find_size(sys.ninputs, u0, "inputs")
+    noutputs = _find_size(sys.noutputs, y0, "outputs")
 
     # Convert x0, u0, y0 to arrays, if needed
     if np.isscalar(x0):
@@ -1977,23 +1998,23 @@ def linearize(sys, xeq, ueq=None, t=0, params=None, **kw):
     return sys.linearize(xeq, ueq, t=t, params=params, **kw)
 
 
-def _find_size(sysval, vecval):
+def _find_size(sysval, vecval, label):
     """Utility function to find the size of a system parameter
 
     If both parameters are not None, they must be consistent.
     """
     if hasattr(vecval, '__len__'):
         if sysval is not None and sysval != len(vecval):
-            raise ValueError("Inconsistent information to determine size "
-                             "of system component")
+            raise ValueError(
+                f"inconsistent information for number of {label}")
         return len(vecval)
     # None or 0, which is a valid value for "a (sysval, ) vector of zeros".
     if not vecval:
         return 0 if sysval is None else sysval
     elif sysval == 1:
         # (1, scalar) is also a valid combination from legacy code
         return 1
-    raise ValueError("can't determine size of system component")
+    raise ValueError(f"can't determine number of {label}")
 
 
 # Function to create an interconnected system
@@ -2241,7 +2262,7 @@ def interconnect(
     `outputs`, for more natural naming of SISO systems.
 
     """
-    from .statesp import StateSpace, LinearICSystem, _convert_to_statespace
+    from .statesp import LinearICSystem, StateSpace, _convert_to_statespace
     from .xferfcn import TransferFunction
 
     dt = kwargs.pop('dt', None)         # bypass normal 'dt' processing
@@ -2551,7 +2572,7 @@ def interconnect(
     return newsys
 
 
-# Utility function to allow lists states, inputs
+# Utility function to allow lists of states, inputs
 def _concatenate_list_elements(X, name='X'):
     # If we were passed a list, concatenate the elements together
     if isinstance(X, (tuple, list)):
@@ -2574,13 +2595,14 @@ def _convert_static_iosystem(sys):
     # Convert sys1 to an I/O system if needed
     if isinstance(sys, (int, float, np.number)):
         return NonlinearIOSystem(
-            None, lambda t, x, u, params: sys * u, inputs=1, outputs=1)
+            None, lambda t, x, u, params: sys * u,
+            outputs=1, inputs=1, dt=None)
 
     elif isinstance(sys, np.ndarray):
         sys = np.atleast_2d(sys)
         return NonlinearIOSystem(
             None, lambda t, x, u, params: sys @ u,
-            outputs=sys.shape[0], inputs=sys.shape[1])
+            outputs=sys.shape[0], inputs=sys.shape[1], dt=None)
 
 def connection_table(sys, show_names=False, column_width=32):
     """Print table of connections inside an interconnected system model.