Compute the output response of a system to a given input.    Simulate a dynamical system with a given input and return its output    and state values.    Parameters    ----------    sys : InputOutputSystem        Input/output system to simulate.    T : array-like        Time steps at which the input is defined; values must be evenly spaced.    U : array-like, list, or number, optional        Input array giving input at each time `T` (default = 0).  If a list        is specified, each element in the list will be treated as a portion        of the input and broadcast (if necessary) to match the time vector.    X0 : array-like, list, or number, optional        Initial condition (default = 0).  If a list is given, each element        in the list will be flattened and stacked into the initial        condition.  If a smaller number of elements are given that the        number of states in the system, the initial condition will be padded        with zeros.    return_x : bool, optional        If True, return the state vector when assigning to a tuple (default =        False).  See :func:`forced_response` for more details.        If True, return the values of the state at each time (default = False).    squeeze : bool, optional        If True and if the system has a single output, return the system        output as a 1D array rather than a 2D array.  If False, return the        system output as a 2D array even if the system is SISO.  Default value        set by config.defaults['control.squeeze_time_response'].    Returns    -------    results : TimeResponseData        Time response represented as a :class:`TimeResponseData` object        containing the following properties:        * time (array): Time values of the output.        * outputs (array): Response of the system.  If the system is SISO and          `squeeze` is not True, the array is 1D (indexed by time).  If the          system is not SISO or `squeeze` is False, the array is 2D (indexed          by output and time).        * states (array): Time evolution of the state vector, represented as          a 2D array indexed by state and time.        * inputs (array): Input(s) to the system, indexed by input and time.        The return value of the system can also be accessed by assigning the        function to a tuple of length 2 (time, output) or of length 3 (time,        output, state) if ``return_x`` is ``True``.  If the input/output        system signals are named, these names will be used as labels for the        time response.    Other parameters    ----------------    solve_ivp_method : str, optional        Set the method used by :func:`scipy.integrate.solve_ivp`.  Defaults        to 'RK45'.    solve_ivp_kwargs : dict, optional        Pass additional keywords to :func:`scipy.integrate.solve_ivp`.    Raises    ------    TypeError        If the system is not an input/output system.    ValueError        If time step does not match sampling time (for discrete time systems).    Notes    -----    1. If a smaller number of initial conditions are given than the number of       states in the system, the initial conditions will be padded with       zeros.  This is often useful for interconnected control systems where       the process dynamics are the first system and all other components       start with zero initial condition since this can be specified as       [xsys_0, 0].  A warning is issued if the initial conditions are padded       and and the final listed initial state is not zero.