Description

jonschlipf

opened on Aug 24, 2022

Issue body actions

When calling the control.matlab.lsim with a higher-order system (at least 2x2 matrices), there is a prompt:

ValueError: Parameter ``T`` must have same elements as the number of columns in input array ``U`` 

Inverting U or T does not help. Instead, it prompts a different error with matrix multiplication.
It works properly when calling control.timeresp.forced_response directly, with the "transpose" flag set to false.
The error is likely due to the transpose flag, and its implementation throughout the declaration of control.timeresp.forced_response

import numpy as np
import control
import control.matlab

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 = control.ss(Af, Bf, Cf, Df, 1.0e-6)
x_est, _, _ = control.matlab.lsim(ss_Kalman, input_Kalman, time)

Activity

1. bnavigator

   added

   bug

   on Aug 24, 2022
2. bnavigator commented on Aug 24, 2022

   

   bnavigator

   on Aug 24, 2022

   Contributor

   More actions

   Confirmed

   In [5]: input_Kalman.shape
   Out[5]: (512, 2)
   
   In [6]: x_est, _, _ = control.matlab.lsim(ss_Kalman, input_Kalman, time)
   Traceback (most recent call last):
   
     Input In [6] in <cell line: 1>
       x_est, _, _ = control.matlab.lsim(ss_Kalman, input_Kalman, time)
   
     File ~/src/python-control/control/matlab/timeresp.py:297 in lsim
       out = forced_response(sys, T, U, X0, return_x=True, transpose=True)
   
     File ~/src/python-control/control/timeresp.py:978 in forced_response
       raise ValueError('Parameter ``T`` must have same elements as'
   
   ValueError: Parameter ``T`` must have same elements as the number of columns in input array ``U``
   
   
   In [7]: x_est, _, _ = control.matlab.lsim(ss_Kalman, input_Kalman.T, time)
   Traceback (most recent call last):
   
     Input In [7] in <cell line: 1>
       x_est, _, _ = control.matlab.lsim(ss_Kalman, input_Kalman.T, time)
   
     File ~/src/python-control/control/matlab/timeresp.py:297 in lsim
       out = forced_response(sys, T, U, X0, return_x=True, transpose=True)
   
     File ~/src/python-control/control/timeresp.py:1007 in forced_response
       U = _check_convert_array(U, legal_shapes,
   
     File ~/src/python-control/control/timeresp.py:805 in _check_convert_array
       raise ValueError(err_msg_start + err_msg)
   
   ValueError: Parameter ``U``: Wrong shape (rows, columns): (512, 2). Expected: (2, 512).
   
3. murrayrm

   linked a pull request that will close this issuefix control.matlab.lsim bug for discrete time system #765on Aug 25, 2022
4. bnavigator

   closed this as completedin #765on Aug 25, 2022
5. bnavigator commented on Aug 25, 2022

   

   bnavigator

   on Aug 25, 2022

   Contributor

   More actions

   @murrayrm fixed it in #765

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