diff --git a/control/iosys.py b/control/iosys.py
index 895e04015..16ef633b7 100644
--- a/control/iosys.py
+++ b/control/iosys.py
@@ -855,7 +855,7 @@ def __call__(sys, u, params=None, squeeze=None):
# Evaluate the function on the argument
out = sys._out(0, np.array((0,)), np.asarray(u))
- _, out = _process_time_response(sys, [], out, [], squeeze=squeeze)
+ _, out = _process_time_response(sys, None, out, None, squeeze=squeeze)
return out
def _update_params(self, params, warning=False):
@@ -1867,8 +1867,10 @@ def linearize(sys, xeq, ueq=[], t=0, params={}, **kw):
# Utility function to parse a signal parameter
def _parse_signal_parameter(value, name, kwargs, end=False):
+ # Check kwargs for a variant of the parameter name
if value is None and name in kwargs:
- value = list(kwargs.pop(name))
+ value = kwargs.pop(name)
+
if end and kwargs:
raise TypeError("unknown parameters %s" % kwargs)
return value
diff --git a/control/timeresp.py b/control/timeresp.py
index 55ced8302..9ccf24bf3 100644
--- a/control/timeresp.py
+++ b/control/timeresp.py
@@ -467,8 +467,11 @@ def _process_time_response(
Parameters
----------
+ sys : LTI or InputOutputSystem
+ System that generated the data (used to check if SISO/MIMO).
+
T : 1D array
- Time values of the output
+ Time values of the output. Ignored if None.
yout : ndarray
Response of the system. This can either be a 1D array indexed by time
@@ -478,9 +481,9 @@ def _process_time_response(
xout : array, optional
Individual response of each x variable (if return_x is True). For a
- SISO system (or if a single input is specified), This should be a 2D
+ SISO system (or if a single input is specified), this should be a 2D
array indexed by the state index and time (for single input systems)
- or a 3D array indexed by state, input, and time.
+ or a 3D array indexed by state, input, and time. Ignored if None.
transpose : bool, optional
If True, transpose all input and output arrays (for backward
@@ -545,7 +548,7 @@ def _process_time_response(
raise ValueError("unknown squeeze value")
# Figure out whether and how to squeeze the state data
- if issiso and len(xout.shape) > 2:
+ if issiso and xout is not None and len(xout.shape) > 2:
xout = xout[:, 0, :] # remove input
# See if we need to transpose the data back into MATLAB form
@@ -555,7 +558,8 @@ def _process_time_response(
# For signals, put the last index (time) into the first slot
yout = np.transpose(yout, np.roll(range(yout.ndim), 1))
- xout = np.transpose(xout, np.roll(range(xout.ndim), 1))
+ if xout is not None:
+ xout = np.transpose(xout, np.roll(range(xout.ndim), 1))
# Return time, output, and (optionally) state
return (tout, yout, xout) if return_x else (tout, yout)
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