diff --git a/control/iosys.py b/control/iosys.py
index e3719614b..6008cf43d 100644
--- a/control/iosys.py
+++ b/control/iosys.py
@@ -1762,19 +1762,8 @@ def input_output_response(
warn("initial state too short; padding with zeros")
X0 = np.hstack([X0, np.zeros(sys.nstates - X0.size)])
- # Check to make sure this is not a static function
+ # Compute the number of states
nstates = _find_size(sys.nstates, X0)
- if nstates == 0:
- # No states => map input to output
- u = U[0] if len(U.shape) == 1 else U[:, 0]
- y = np.zeros((np.shape(sys._out(T[0], X0, u))[0], len(T)))
- for i in range(len(T)):
- u = U[i] if len(U.shape) == 1 else U[:, i]
- y[:, i] = sys._out(T[i], [], u)
- return TimeResponseData(
- T, y, None, U, issiso=sys.issiso(),
- output_labels=sys.output_index, input_labels=sys.input_index,
- transpose=transpose, return_x=return_x, squeeze=squeeze)
# create X0 if not given, test if X0 has correct shape
X0 = _check_convert_array(X0, [(nstates,), (nstates, 1)],
diff --git a/control/tests/iosys_test.py b/control/tests/iosys_test.py
index ecb30c316..825cec5c5 100644
--- a/control/tests/iosys_test.py
+++ b/control/tests/iosys_test.py
@@ -1763,27 +1763,40 @@ def test_input_output_broadcasting():
resp_bad = ct.input_output_response(
sys, T, (U[0, :], U[:2, :-1]), [X0, P0])
-
-def test_nonuniform_timepts():
+@pytest.mark.parametrize("nstates, ninputs, noutputs", [
+ [2, 1, 1],
+ [4, 2, 3],
+ [0, 1, 1], # static function
+ [0, 3, 2], # static function
+])
+def test_nonuniform_timepts(nstates, noutputs, ninputs):
"""Test non-uniform time points for simulations"""
- sys = ct.LinearIOSystem(ct.rss(2, 1, 1))
+ if nstates:
+ sys = ct.rss(nstates, noutputs, ninputs)
+ else:
+ sys = ct.ss(
+ [], np.zeros((0, ninputs)), np.zeros((noutputs, 0)),
+ np.random.rand(noutputs, ninputs))
# Start with a uniform set of times
unifpts = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
- uniform = [1, 2, 3, 2, 1, -1, -3, -5, -7, -3, 1]
- t_unif, y_unif = ct.input_output_response(sys, unifpts, uniform)
+ uniform = np.outer(
+ np.ones(ninputs), [1, 2, 3, 2, 1, -1, -3, -5, -7, -3, 1])
+ t_unif, y_unif = ct.input_output_response(
+ sys, unifpts, uniform, squeeze=False)
# Create a non-uniform set of inputs
noufpts = [0, 2, 4, 8, 10]
- nonunif = [1, 3, 1, -7, 1]
- t_nouf, y_nouf = ct.input_output_response(sys, noufpts, nonunif)
+ nonunif = np.outer(np.ones(ninputs), [1, 3, 1, -7, 1])
+ t_nouf, y_nouf = ct.input_output_response(
+ sys, noufpts, nonunif, squeeze=False)
# Make sure the outputs agree at common times
- np.testing.assert_almost_equal(y_unif[noufpts], y_nouf, decimal=6)
+ np.testing.assert_almost_equal(y_unif[:, noufpts], y_nouf, decimal=6)
# Resimulate using a new set of evaluation points
t_even, y_even = ct.input_output_response(
- sys, noufpts, nonunif, t_eval=unifpts)
+ sys, noufpts, nonunif, t_eval=unifpts, squeeze=False)
np.testing.assert_almost_equal(y_unif, y_even, decimal=6)
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