add documentation on predict keyword + input_output_response list processing

murrayrm · murrayrm · commit e5b4cb332080 · 2022-04-01T21:14:02.000-07:00
diff --git a/control/iosys.py b/control/iosys.py
@@ -1736,6 +1736,23 @@ def input_output_response(
     U = U.reshape(-1, ntimepts)
     ninputs = U.shape[0]
 
+    # If we were passed a list of initial states, concatenate them
+    if isinstance(X0, (tuple, list)):
+        X0_list = []
+        for i, x0 in enumerate(X0):
+            x0 = np.array(x0).reshape(-1)       # convert everyting to 1D array
+            X0_list += x0.tolist()              # add elements to initial state
+
+        # Save the newly created input vector
+        X0 = np.array(X0_list)
+
+    # If the initial state is too short, make it longer (NB: sys.nstates
+    # could be None if nstates comes from size of initial condition)
+    if sys.nstates and isinstance(X0, np.ndarray) and X0.size < sys.nstates:
+        if X0[-1] != 0:
+            warn("initial state too short; padding with zeros")
+        X0 = np.hstack([X0, np.zeros(sys.nstates - X0.size)])
+
     # If we were passed a list of initial states, concatenate them
     if isinstance(X0, (tuple, list)):
         X0_list = []
diff --git a/control/tests/iosys_test.py b/control/tests/iosys_test.py
@@ -1711,6 +1711,7 @@ def test_interconnect_unused_output():
                             outputs=['y'],
                             ignore_outputs=['v'])
 
+
 def test_input_output_broadcasting():
     # Create a system, time vector, and noisy input
     sys = ct.rss(6, 2, 3)
@@ -1752,6 +1753,7 @@ def test_input_output_broadcasting():
         resp_bad = ct.input_output_response(
             sys, T, (U[0, :], U[:2, :-1]), [X0, P0])
 
+
 def test_nonuniform_timepts():
     """Test non-uniform time points for simulations"""
     sys = ct.LinearIOSystem(ct.rss(2, 1, 1))
