Merge pull request #21 from dgrunberg/issue20

fixed shapes before Ax+Bu calc
petercorke · Jul 11, 2023 · a2fe453 · a2fe453
2 parents 5ae65fb + b6ae4d2
commit a2fe453
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/bdsim/blocks/transfers.py b/bdsim/blocks/transfers.py
@@ -295,7 +295,11 @@ def output(self, t, u, x):
         return list(self.C @ x)
 
     def deriv(self, t, u, x):
-        xd = self.A @ x + self.B @ np.array(u)
+        # Reshape u and x to (N,1), i.e. column vectors, so
+        # no problems with broadcasting between A@x and B@u
+        x = x.reshape(-1, 1)
+        u = np.array(u).reshape(-1, 1)
+        xd = self.A @ x + self.B @ u
         return xd.flatten()