include tfinal in auto generated timevector

bnavigator · bnavigator · commit cc90d8d5a302 · 2021-03-19T00:54:18.000+01:00
diff --git a/control/tests/sisotool_test.py b/control/tests/sisotool_test.py
@@ -68,8 +68,8 @@ def test_sisotool(self, sys):
 
         # Check the step response before moving the point
         step_response_original = np.array(
-            [0.    , 0.021 , 0.124 , 0.3146, 0.5653, 0.8385, 1.0969, 1.3095,
-             1.4549, 1.5231])
+            [0.    , 0.0216, 0.1271, 0.3215, 0.5762, 0.8522, 1.1114, 1.3221,
+             1.4633, 1.5254])
         assert_array_almost_equal(
             ax_step.lines[0].get_data()[1][:10], step_response_original, 4)
 
@@ -113,8 +113,8 @@ def test_sisotool(self, sys):
 
         # Check if the step response has changed
         step_response_moved = np.array(
-            [0.    , 0.023 , 0.1554, 0.4401, 0.8646, 1.3722, 1.875 , 2.2709,
-              2.4633, 2.3827])
+            [0.    , 0.0237, 0.1596, 0.4511, 0.884 , 1.3985, 1.9031, 2.2922,
+             2.4676, 2.3606])
         assert_array_almost_equal(
             ax_step.lines[0].get_data()[1][:10], step_response_moved, 4)
 
@@ -157,7 +157,3 @@ def test_sisotool_mimo(self,  sys222, sys221):
         # but 2 input, 1 output should
         with pytest.raises(ControlMIMONotImplemented):
             sisotool(sys221)
-
-
-
-
diff --git a/control/timeresp.py b/control/timeresp.py
@@ -1303,16 +1303,18 @@ def _default_time_vector(sys, N=None, tfinal=None, is_step=True):
         # only need to use default_tfinal if not given; N is ignored.
         if tfinal is None:
             # for discrete time, change from ideal_tfinal if N too large/small
-            N = int(np.clip(ideal_tfinal/sys.dt, N_min_dt, N_max))# [N_min, N_max]
-            tfinal = sys.dt * N
+            # [N_min, N_max]
+            N = int(np.clip(np.ceil(ideal_tfinal/sys.dt)+1, N_min_dt, N_max))
+            tfinal = sys.dt * (N-1)
         else:
-            N = int(tfinal/sys.dt)
-            tfinal = N * sys.dt # make tfinal an integer multiple of sys.dt
+            N = int(np.ceil(tfinal/sys.dt)) + 1
+            tfinal = sys.dt * (N-1) # make tfinal an integer multiple of sys.dt
     else:
         if tfinal is None:
             # for continuous time, simulate to ideal_tfinal but limit N
             tfinal = ideal_tfinal
         if N is None:
-            N = int(np.clip(tfinal/ideal_dt, N_min_ct, N_max)) # N<-[N_min, N_max]
+            # [N_min, N_max]
+            N = int(np.clip(np.ceil(tfinal/ideal_dt)+1, N_min_ct, N_max))
 
-    return np.linspace(0, tfinal, N, endpoint=False)
+    return np.linspace(0, tfinal, N, endpoint=True)
