control.initial_response
- control.initial_response(sysdata, timepts=None, initial_state=0, output_indices=None, timepts_num=None, params=None, transpose=False, return_states=False, squeeze=None, **kwargs)[source]
Compute the initial condition response for a linear system.
If the system has multiple outputs (MIMO), optionally, one output may be selected. If no selection is made for the output, all outputs are given.
For information on the shape of parameters
T
,X0
and return valuesT
,yout
, see Time series data conventions.- Parameters
- sysdataI/O system or list of I/O systems
I/O system(s) for which initial response is computed.
- timepts (or T)array_like or float, optional
Time vector, or simulation time duration if a number (time vector is auto-computed if not given; see
step_response
for more detail).- initial_state (or X0)array_like or float, optional
Initial condition (default = 0). Numbers are converted to constant arrays with the correct shape.
- output_indices (or output)int
Index of the output that will be used in this simulation. Set to None to not trim outputs.
- timepts_num (or T_num)int, optional
Number of time steps to use in simulation if
timepts
is not provided as an array (auto-computed if not given); ignored if the system is discrete time.- paramsdict, optional
If system is a nonlinear I/O system, set parameter values.
- transposebool, optional
If True, transpose all input and output arrays (for backward compatibility with MATLAB and
scipy.signal.lsim
). Default value is False.- return_states (or return_x)bool, optional
If True, return the state vector when assigning to a tuple (default = False). See
forced_response
for more details.- squeezebool, optional
By default, if a system is single-input, single-output (SISO) then the output response is returned as a 1D array (indexed by time). If
squeeze
= True, remove single-dimensional entries from the shape of the output even if the system is not SISO. Ifsqueeze
= False, keep the output as a 2D array (indexed by the output number and time) even if the system is SISO. The default value can be set usingconfig.defaults['control.squeeze_time_response']
.
- Returns
- results
TimeResponseData
orTimeResponseList
Time response represented as a
TimeResponseData
object or list ofTimeResponseData
objects. Seeforced_response
for additional information.
- results
See also
Notes
This function uses the
forced_response
function with the input set to zero.Examples
>>> G = ct.rss(4) >>> T, yout = ct.initial_response(G)