diff --git a/control/tests/timeresp_test.py b/control/tests/timeresp_test.py
index 54b9bc95b..1c97b9385 100644
--- a/control/tests/timeresp_test.py
+++ b/control/tests/timeresp_test.py
@@ -243,6 +243,23 @@ def siso_tf_kneg(self):
'SteadyStateValue': -1.0}
return T
+ @pytest.fixture
+ def siso_tf_asymptotic_from_neg1(self):
+ # Peak_value = Undershoot = y_final(y(t=inf))
+ T = TSys(TransferFunction([-1, 1], [1, 1]))
+ T.step_info = {
+ 'RiseTime': 2.197,
+ 'SettlingTime': 4.605,
+ 'SettlingMin': 0.9,
+ 'SettlingMax': 1.0,
+ 'Overshoot': 0,
+ 'Undershoot': 100.0,
+ 'Peak': 1.0,
+ 'PeakTime': 0.0,
+ 'SteadyStateValue': 1.0}
+ T.kwargs = {'step_info': {'T': np.arange(0, 5, 1e-3)}}
+ return T
+
@pytest.fixture
def siso_tf_step_matlab(self):
# example from matlab online help
@@ -348,7 +365,8 @@ def tsystem(self,
pole_cancellation, no_pole_cancellation, siso_tf_type1,
siso_tf_kpos, siso_tf_kneg,
siso_tf_step_matlab, siso_ss_step_matlab,
- mimo_ss_step_matlab, mimo_tf_step_info):
+ mimo_ss_step_matlab, mimo_tf_step_info,
+ siso_tf_asymptotic_from_neg1):
systems = {"siso_ss1": siso_ss1,
"siso_ss2": siso_ss2,
"siso_tf1": siso_tf1,
@@ -373,6 +391,7 @@ def tsystem(self,
"siso_ss_step_matlab": siso_ss_step_matlab,
"mimo_ss_step_matlab": mimo_ss_step_matlab,
"mimo_tf_step": mimo_tf_step_info,
+ "siso_tf_asymptotic_from_neg1": siso_tf_asymptotic_from_neg1,
}
return systems[request.param]
@@ -466,7 +485,8 @@ def assert_step_info_match(self, sys, info, info_ref):
"siso_ss_step_matlab",
"siso_tf_kpos",
"siso_tf_kneg",
- "siso_tf_type1"],
+ "siso_tf_type1",
+ "siso_tf_asymptotic_from_neg1"],
indirect=["tsystem"])
def test_step_info(self, tsystem, systype, time_2d, yfinal):
"""Test step info for SISO systems."""
diff --git a/control/timeresp.py b/control/timeresp.py
index f0c130eb0..fd2e19c91 100644
--- a/control/timeresp.py
+++ b/control/timeresp.py
@@ -912,8 +912,8 @@ def step_info(sysdata, T=None, T_num=None, yfinal=None,
if settled < len(T):
settling_time = T[settled]
- settling_min = (yout[tr_upper_index:]).min()
- settling_max = (yout[tr_upper_index:]).max()
+ settling_min = min((yout[tr_upper_index:]).min(), InfValue)
+ settling_max = max((yout[tr_upper_index:]).max(), InfValue)
# Overshoot
y_os = (sgnInf * yout).max()
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