diff --git a/control/tests/matlab_test.py b/control/tests/matlab_test.py
index a379ce7f0..abf86ce44 100644
--- a/control/tests/matlab_test.py
+++ b/control/tests/matlab_test.py
@@ -208,7 +208,6 @@ def testStep(self, siso):
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
np.testing.assert_array_almost_equal(tout, t)
- @slycotonly
def testStep_mimo(self, mimo):
"""Test step for MIMO system"""
sys = mimo.ss1
@@ -267,7 +266,6 @@ def testImpulse(self, siso):
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
np.testing.assert_array_almost_equal(tout, t)
- @slycotonly
def testImpulse_mimo(self, mimo):
"""Test impulse() for MIMO system"""
t = np.linspace(0, 1, 10)
@@ -296,7 +294,6 @@ def testInitial(self, siso):
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
np.testing.assert_array_almost_equal(tout, t)
- @slycotonly
def testInitial_mimo(self, mimo):
"""Test initial() for MIMO system"""
t = np.linspace(0, 1, 10)
@@ -333,7 +330,6 @@ def testLsim(self, siso):
yout, _t, _xout = lsim(siso.ss1, u, t, x0)
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
- @slycotonly
def testLsim_mimo(self, mimo):
"""Test lsim() for MIMO system.
@@ -352,6 +348,25 @@ def testLsim_mimo(self, mimo):
yout, _t, _xout = lsim(mimo.ss1, u, t, x0)
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
+ def test_lsim_mimo_dtime(self):
+ # https://github.com/python-control/python-control/issues/764
+ time = np.linspace(0.0, 511.0e-6, 512)
+ DAC = np.sin(time)
+ ADC = np.cos(time)
+
+ input_Kalman = np.transpose(
+ np.concatenate(([[DAC]], [[ADC]]), axis=1)[0])
+ Af = [[0.45768416, -0.42025511], [-0.43354791, 0.51961178]]
+ Bf = [[2.84368641, 52.05922305], [-1.47286557, -19.94861943]]
+ Cf = [[1.0, 0.0], [0.0, 1.0]]
+ Df = [[0.0, 0.0], [0.0, 0.0]]
+
+ ss_Kalman = ss(Af, Bf, Cf, Df, 1.0e-6)
+ y_est, t, x_est = lsim(ss_Kalman, input_Kalman, time)
+ assert y_est.shape == (time.size, ss_Kalman.ninputs)
+ assert t.shape == (time.size, )
+ assert x_est.shape == (time.size, ss_Kalman.nstates)
+
def testMargin(self, siso):
"""Test margin()"""
#! TODO: check results to make sure they are OK
@@ -582,7 +597,6 @@ def testSISOssdata(self, siso):
for i in range(len(ssdata_1)):
np.testing.assert_array_almost_equal(ssdata_1[i], ssdata_2[i])
- @slycotonly
def testMIMOssdata(self, mimo):
"""Test ssdata() MIMO"""
m = (mimo.ss1.A, mimo.ss1.B, mimo.ss1.C, mimo.ss1.D)
diff --git a/control/tests/timeresp_test.py b/control/tests/timeresp_test.py
index ff712f849..124e16c1e 100644
--- a/control/tests/timeresp_test.py
+++ b/control/tests/timeresp_test.py
@@ -698,10 +698,10 @@ def test_forced_response_invalid_d(self, tsystem):
"""Test invalid parameters dtime with sys.dt > 0."""
with pytest.raises(ValueError, match="can't both be zero"):
forced_response(tsystem.sys)
- with pytest.raises(ValueError, match="must have same elements"):
+ with pytest.raises(ValueError, match="Parameter ``U``: Wrong shape"):
forced_response(tsystem.sys,
T=tsystem.t, U=np.random.randn(1, 12))
- with pytest.raises(ValueError, match="must have same elements"):
+ with pytest.raises(ValueError, match="Parameter ``U``: Wrong shape"):
forced_response(tsystem.sys,
T=tsystem.t, U=np.random.randn(12))
with pytest.raises(ValueError, match="must match sampling time"):
diff --git a/control/timeresp.py b/control/timeresp.py
index aa1261ccd..e029f2a44 100644
--- a/control/timeresp.py
+++ b/control/timeresp.py
@@ -972,11 +972,6 @@ def forced_response(sys, T=None, U=0., X0=0., transpose=False,
dt = 1. if sys.dt in [True, None] else sys.dt
T = np.array(range(n_steps)) * dt
else:
- # Make sure the input vector and time vector have same length
- if (U.ndim == 1 and U.shape[0] != T.shape[0]) or \
- (U.ndim > 1 and U.shape[1] != T.shape[0]):
- raise ValueError('Parameter ``T`` must have same elements as'
- ' the number of columns in input array ``U``')
if U.ndim == 0:
U = np.full((n_inputs, T.shape[0]), U)
else:
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