diff --git a/control/tests/timeresp_test.py b/control/tests/timeresp_test.py
index 5549b2a88..39bc533bf 100644
--- a/control/tests/timeresp_test.py
+++ b/control/tests/timeresp_test.py
@@ -204,6 +204,15 @@ def test_impulse_response(self):
np.testing.assert_array_almost_equal(
yy, np.vstack((youttrue, np.zeros_like(youttrue))), decimal=4)
+ def test_discrete_time_impulse(self):
+ # discrete time impulse sampled version should match cont time
+ dt = 0.1
+ t = np.arange(0, 3, dt)
+ sys = self.siso_tf1
+ sysdt = sys.sample(dt, 'impulse')
+ np.testing.assert_array_almost_equal(impulse_response(sys, t)[1],
+ impulse_response(sysdt, t)[1])
+
def test_initial_response(self):
# Test SISO system
sys = self.siso_ss1
diff --git a/control/timeresp.py b/control/timeresp.py
index 8670c180d..d6c31a89b 100644
--- a/control/timeresp.py
+++ b/control/timeresp.py
@@ -815,7 +815,7 @@ def impulse_response(sys, T=None, X0=0., input=0, output=None, T_num=None,
new_X0 = B + X0
else:
new_X0 = X0
- U[0] = 1.
+ U[0] = 1./sys.dt # unit area impulse
T, yout, _xout = forced_response(sys, T, U, new_X0, transpose=transpose,
squeeze=squeeze)
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