title: Numpy.dot() dimensions not aligned
body: <p>I'm having trouble giving the right input to the <code>scipy.signal.dlsim</code> method. </p>
  
  <p>The method requires the 4 state space matrices:</p>
  
  <pre><code>A = np.array([
      [0.9056, -0.1908, 0.0348, 0.0880],
      [0.0973, 0.8728, 0.4091, -0.0027],
      [0.0068, -0.1694, 0.9729, -0.6131],
      [-0.0264, 0.0014, 0.1094, 0.6551]
      ])
  
  B = np.array([
      [0, -0.0003, -0.0330, -0.0042, -0.0037],
      [0, -0.0005, 0.0513, -0.0869, -0.1812],
      [0, 0.0003, -0.0732, 1.1768, -1.1799],
      [0, -0.0002, -0.0008, 0.2821, -0.4797]
      ])
  
  C = np.array([-0.01394, -0.0941, 0.0564, 0.0435])
  
  D = np.array([0, 0.0004, -0.0055, 0.3326, 0.5383])
  </code></pre>
  
  <p>and an input vector which I build in the following way:</p>
  
  <pre><code>inputs = np.array([
      data['input1'].values(),
      data['input2'].values(),
      data['input3'].values(),
      data['input4'].values(),
      data['input5'].values()
  ])
  </code></pre>
  
  <p>This creates an inputs matrix with <code>(5x752)</code> dimensions (I have 752 data points). So I take the transpose of the inputs matrix to preprocess my data:</p>
  
  <pre><code>inputs = np.transpose(inputs)
  </code></pre>
  
  <p>The inputs matrix now has the <code>(752x5)</code> dimensions I presume are necessary for the simulation algorithm of scipy.</p>
  
  <p>When I execute the method, I get the following error:</p>
  
  <pre><code>    110     # Simulate the system
      111     for i in range(0, out_samples - 1):
  --&gt; 112         xout[i+1,:] = np.dot(a, xout[i,:]) + np.dot(b, u_dt[i,:])
      113         yout[i,:] = np.dot(c, xout[i,:]) + np.dot(d, u_dt[i,:])
      114 
  
  ValueError: shapes (4,5) and (1,5) not aligned: 5 (dim 1) != 1 (dim 0)
  </code></pre>
  
  <p>I understand scipy is unable to make this multiplication but I do not know in which format I should give my inputs array to the method. If I would not transpose the matrix the dimensions would be even worse (1x752).</p>
  
  <p>Am I missing something here? </p>