diff --git a/control/tests/timeresp_test.py b/control/tests/timeresp_test.py
index a576d0903..54b9bc95b 100644
--- a/control/tests/timeresp_test.py
+++ b/control/tests/timeresp_test.py
@@ -301,17 +301,17 @@ def mimo_ss_step_matlab(self):
'SteadyStateValue': -0.5394},
{'RiseTime': 0.0000, # (*)
'SettlingTime': 3.4000,
- 'SettlingMin': -0.1034,
+ 'SettlingMin': -0.4350, # (*)
'SettlingMax': -0.1485,
'Overshoot': 132.0170,
- 'Undershoot': 79.222, # 0. in MATLAB
+ 'Undershoot': 0.,
'Peak': 0.4350,
'PeakTime': .2,
'SteadyStateValue': -0.1875}]]
- # (*): MATLAB gives 0.4 here, but it is unclear what
- # 10% and 90% of the steady state response mean, when
- # the step for this channel does not start a 0 for
- # 0 initial conditions
+ # (*): MATLAB gives 0.4 for RiseTime and -0.1034 for
+ # SettlingMin, but it is unclear what 10% and 90% of
+ # the steady state response mean, when the step for
+ # this channel does not start a 0.
return T
@pytest.fixture
diff --git a/control/timeresp.py b/control/timeresp.py
index eafe10992..f0c130eb0 100644
--- a/control/timeresp.py
+++ b/control/timeresp.py
@@ -923,11 +923,11 @@ def step_info(sysdata, T=None, T_num=None, yfinal=None,
else:
overshoot = 0
- # Undershoot
- y_us = (sgnInf * yout).min()
- dy_us = np.abs(y_us)
- if dy_us > 0:
- undershoot = np.abs(100. * dy_us / InfValue)
+ # Undershoot : InfValue and undershoot must have opposite sign
+ y_us_index = (sgnInf * yout).argmin()
+ y_us = yout[y_us_index]
+ if (sgnInf * y_us) < 0:
+ undershoot = (-100. * y_us / InfValue)
else:
undershoot = 0
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