Dec 26, 2021 · Dec 12, 2021 · Dec 26, 2021 · Dec 26, 2021
diff --git a/control/iosys.py b/control/iosys.py
    # but has a lot less overhead => simulation runs much faster
    def ufun(t):
        # Find the value of the index using linear interpolation
        idx = np.searchsorted(T, t, side='left')
        if idx == 0:
            # For consistency in return type, multiple by a float
            return U[..., 0] * 1.
        else:
            dt = (t - T[idx-1]) / (T[idx] - T[idx-1])
            return U[..., idx-1] * (1. - dt) + U[..., idx] * dt
        # Use clip to allow for extrapolation if t is out of range
        idx = np.clip(np.searchsorted(T, t, side='left'), 1, len(T)-1)
        dt = (t - T[idx-1]) / (T[idx] - T[idx-1])
        return U[..., idx-1] * (1. - dt) + U[..., idx] * dt

    # Create a lambda function for the right hand side
    def ivp_rhs(t, x):
Original file line number	Diff line number	Diff line change
Expand Up		@@ -1852,13 +1852,10 @@ def input_output_response(
		# but has a lot less overhead => simulation runs much faster
		def ufun(t):
		# Find the value of the index using linear interpolation
		idx = np.searchsorted(T, t, side='left')
		if idx == 0:
		# For consistency in return type, multiple by a float
		return U[..., 0] * 1.
		else:
		dt = (t - T[idx-1]) / (T[idx] - T[idx-1])
		return U[..., idx-1] * (1. - dt) + U[..., idx] * dt
		# Use clip to allow for extrapolation if t is out of range
		idx = np.clip(np.searchsorted(T, t, side='left'), 1, len(T)-1)
		dt = (t - T[idx-1]) / (T[idx] - T[idx-1])
		return U[..., idx-1] * (1. - dt) + U[..., idx] * dt

		# Create a lambda function for the right hand side
		def ivp_rhs(t, x):
Expand Down