addressed @slivingston review comments

murrayrm · murrayrm · commit 10614458501a · 2025-01-04T10:44:04.000-08:00
diff --git a/control/nlsys.py b/control/nlsys.py
@@ -1333,8 +1333,11 @@ def nlsys(updfcn, outfcn=None, **kwargs):
             sys_ss.name, prefix_suffix_name='converted'))
 
         sys_nl = NonlinearIOSystem(
-            lambda t, x, u, params: sys.A @ x + sys.B @ u,
-            lambda t, x, u, params: sys.C @ x + sys.D @ u, **kwargs)
+            lambda t, x, u, params:
+                sys_ss.A @ np.atleast_1d(x) + sys_ss.B @ np.atleast_1d(u),
+            lambda t, x, u, params:
+                sys_ss.C @ np.atleast_1d(x) + sys_ss.D @ np.atleast_1d(u),
+            **kwargs)
 
         if sys_nl.nstates != sys_ss.nstates or sys_nl.shape != sys_ss.shape:
             raise ValueError(
diff --git a/control/statefbk.py b/control/statefbk.py
@@ -754,7 +754,7 @@ def create_statefbk_iosystem(
 
     params : dict, optional
         System parameter values.  By default, these will be copied from
-        `sys` and `ctrl`, but can be overriden with this keyword.
+        `sys` and `ctrl`, but can be overridden with this keyword.
 
     Examples
     --------
diff --git a/control/statesp.py b/control/statesp.py
@@ -1529,8 +1529,7 @@ def ss(*args, **kwargs):
         systems, `B` and `C` can be given as 1D arrays and D can be given
         as a scalar.
 
-    ``ss(*args, inputs=['u1', ..., 'up'], outputs=['y1', ..., 'yq'],
-    states=['x1', ..., 'xn'])``
+    ``ss(*args, inputs=['u1', ..., 'up'], outputs=['y1', ..., 'yq'], states=['x1', ..., 'xn'])``
         Create a system with named input, output, and state signals.
 
     Parameters
diff --git a/control/tests/nlsys_test.py b/control/tests/nlsys_test.py
@@ -169,6 +169,9 @@ def test_ss2io():
     for attr in ['nstates', 'ninputs', 'noutputs']:
         assert getattr(nlsys, attr) == getattr(sys, attr)
     assert nlsys.name == 'sys$converted'
+    np.testing.assert_allclose(
+        nlsys.dynamics(0, [1, 2, 3, 4], [0, 0], {}),
+        sys.A @ np.array([1, 2, 3, 4]))
 
     # Put names back to defaults
     nlsys = ct.nlsys(
