diff --git a/control/iosys.py b/control/iosys.py
index 78444f7c1..dca00d3e5 100644
--- a/control/iosys.py
+++ b/control/iosys.py
@@ -1862,7 +1862,7 @@ def ufun(t):
return TimeResponseData(
t_eval, y, None, u, issiso=sys.issiso(),
- output_labels=sys.output_index, input_labels=sys.input_index,
+ output_labels=sys.output_labels, input_labels=sys.input_labels,
transpose=transpose, return_x=return_x, squeeze=squeeze)
# Create a lambda function for the right hand side
@@ -1941,8 +1941,8 @@ def ivp_rhs(t, x):
return TimeResponseData(
soln.t, y, soln.y, u, issiso=sys.issiso(),
- output_labels=sys.output_index, input_labels=sys.input_index,
- state_labels=sys.state_index,
+ output_labels=sys.output_labels, input_labels=sys.input_labels,
+ state_labels=sys.state_labels,
transpose=transpose, return_x=return_x, squeeze=squeeze)
@@ -2881,7 +2881,7 @@ def interconnect(
# Look for the signal name as a system input
for sys in syslist:
- if signal_name in sys.input_index.keys():
+ if signal_name in sys.input_labels:
connection.append(sign + sys.name + "." + signal_name)
# Make sure we found the name
diff --git a/control/statesp.py b/control/statesp.py
index 41f92ae21..8661d8741 100644
--- a/control/statesp.py
+++ b/control/statesp.py
@@ -1777,7 +1777,9 @@ def _mimo2siso(sys, input, output, warn_conversion=False):
new_B = sys.B[:, input]
new_C = sys.C[output, :]
new_D = sys.D[output, input]
- sys = StateSpace(sys.A, new_B, new_C, new_D, sys.dt)
+ sys = StateSpace(sys.A, new_B, new_C, new_D, sys.dt,
+ name=sys.name,
+ inputs=sys.input_labels[input], outputs=sys.output_labels[output])
return sys
@@ -1826,7 +1828,9 @@ def _mimo2simo(sys, input, warn_conversion=False):
# Y = C*X + D*U
new_B = sys.B[:, input:input+1]
new_D = sys.D[:, input:input+1]
- sys = StateSpace(sys.A, new_B, sys.C, new_D, sys.dt)
+ sys = StateSpace(sys.A, new_B, sys.C, new_D, sys.dt,
+ name=sys.name,
+ inputs=sys.input_labels[input], outputs=sys.output_labels)
return sys
diff --git a/control/tests/trdata_test.py b/control/tests/trdata_test.py
index 734d35599..028e53580 100644
--- a/control/tests/trdata_test.py
+++ b/control/tests/trdata_test.py
@@ -196,15 +196,20 @@ def test_response_copy():
with pytest.raises(ValueError, match="not enough"):
t, y, x = response_mimo
- # Labels
- assert response_mimo.output_labels is None
- assert response_mimo.state_labels is None
- assert response_mimo.input_labels is None
+ # Make sure labels are transferred to the response
+ assert response_siso.output_labels == sys_siso.output_labels
+ assert response_siso.state_labels == sys_siso.state_labels
+ assert response_siso.input_labels == sys_siso.input_labels
+ assert response_mimo.output_labels == sys_mimo.output_labels
+ assert response_mimo.state_labels == sys_mimo.state_labels
+ assert response_mimo.input_labels == sys_mimo.input_labels
+
+ # Check relabelling
response = response_mimo(
output_labels=['y1', 'y2'], input_labels='u',
- state_labels=["x[%d]" % i for i in range(4)])
+ state_labels=["x%d" % i for i in range(4)])
assert response.output_labels == ['y1', 'y2']
- assert response.state_labels == ['x[0]', 'x[1]', 'x[2]', 'x[3]']
+ assert response.state_labels == ['x0', 'x1', 'x2', 'x3']
assert response.input_labels == ['u']
# Unknown keyword
@@ -231,6 +236,17 @@ def test_trdata_labels():
np.testing.assert_equal(
response.input_labels, ["u[%d]" % i for i in range(sys.ninputs)])
+ # Make sure the selected input and output are both correctly transferred to the response
+ for nu in range(sys.ninputs):
+ for ny in range(sys.noutputs):
+ step_response = ct.step_response(sys, T, input=nu, output=ny)
+ assert step_response.input_labels == [sys.input_labels[nu]]
+ assert step_response.output_labels == [sys.output_labels[ny]]
+
+ init_response = ct.initial_response(sys, T, input=nu, output=ny)
+ assert init_response.input_labels == None
+ assert init_response.output_labels == [sys.output_labels[ny]]
+
def test_trdata_multitrace():
#
diff --git a/control/timeresp.py b/control/timeresp.py
index 638a07329..bd8595cfe 100644
--- a/control/timeresp.py
+++ b/control/timeresp.py
@@ -694,7 +694,10 @@ def _process_labels(labels, signal, length):
raise ValueError("Name dictionary for %s is incomplete" % signal)
# Convert labels to a list
- labels = list(labels)
+ if isinstance(labels, str):
+ labels = [labels]
+ else:
+ labels = list(labels)
# Make sure the signal list is the right length and type
if len(labels) != length:
@@ -1111,6 +1114,8 @@ def forced_response(sys, T=None, U=0., X0=0., transpose=False,
return TimeResponseData(
tout, yout, xout, U, issiso=sys.issiso(),
+ output_labels=sys.output_labels, input_labels=sys.input_labels,
+ state_labels=sys.state_labels,
transpose=transpose, return_x=return_x, squeeze=squeeze)
@@ -1374,8 +1379,16 @@ def step_response(sys, T=None, X0=0., input=None, output=None, T_num=None,
# Figure out if the system is SISO or not
issiso = sys.issiso() or (input is not None and output is not None)
+ # Select only the given input and output, if any
+ input_labels = sys.input_labels if input is None \
+ else sys.input_labels[input]
+ output_labels = sys.output_labels if output is None \
+ else sys.output_labels[output]
+
return TimeResponseData(
response.time, yout, xout, uout, issiso=issiso,
+ output_labels=output_labels, input_labels=input_labels,
+ state_labels=sys.state_labels,
transpose=transpose, return_x=return_x, squeeze=squeeze)
@@ -1704,9 +1717,15 @@ def initial_response(sys, T=None, X0=0., input=0, output=None, T_num=None,
# Figure out if the system is SISO or not
issiso = sys.issiso() or (input is not None and output is not None)
+ # Select only the given output, if any
+ output_labels = sys.output_labels if output is None \
+ else sys.output_labels[0]
+
# Store the response without an input
return TimeResponseData(
response.t, response.y, response.x, None, issiso=issiso,
+ output_labels=output_labels, input_labels=None,
+ state_labels=sys.state_labels,
transpose=transpose, return_x=return_x, squeeze=squeeze)
@@ -1798,7 +1817,7 @@ def impulse_response(sys, T=None, X0=0., input=None, output=None, T_num=None,
-----
This function uses the `forced_response` function to compute the time
response. For continuous time systems, the initial condition is altered to
- account for the initial impulse. For discrete-time aystems, the impulse is
+ account for the initial impulse. For discrete-time aystems, the impulse is
sized so that it has unit area.
Examples
@@ -1869,8 +1888,16 @@ def impulse_response(sys, T=None, X0=0., input=None, output=None, T_num=None,
# Figure out if the system is SISO or not
issiso = sys.issiso() or (input is not None and output is not None)
+ # Select only the given input and output, if any
+ input_labels = sys.input_labels if input is None \
+ else sys.input_labels[input]
+ output_labels = sys.output_labels if output is None \
+ else sys.output_labels[output]
+
return TimeResponseData(
response.time, yout, xout, uout, issiso=issiso,
+ output_labels=output_labels, input_labels=input_labels,
+ state_labels=sys.state_labels,
transpose=transpose, return_x=return_x, squeeze=squeeze)
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