diff --git a/lib/ControlSystemsBase/Project.toml b/lib/ControlSystemsBase/Project.toml
index db2dcbf49..c2fc68c3a 100644
--- a/lib/ControlSystemsBase/Project.toml
+++ b/lib/ControlSystemsBase/Project.toml
@@ -2,7 +2,7 @@ name = "ControlSystemsBase"
 uuid = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
 authors = ["Dept. Automatic Control, Lund University"]
 repo = "https://github.com/JuliaControl/ControlSystems.jl.git"
-version = "1.22.0"
+version = "1.22.1"
 
 [deps]
 ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
diff --git a/lib/ControlSystemsBase/src/hammerstein_weiner.jl b/lib/ControlSystemsBase/src/hammerstein_weiner.jl
index c3b955d2d..e9a7bef7b 100644
--- a/lib/ControlSystemsBase/src/hammerstein_weiner.jl
+++ b/lib/ControlSystemsBase/src/hammerstein_weiner.jl
@@ -40,7 +40,7 @@ This function can also be used to linearize an output equation `C, D = linearize
 """
 function linearize(f, xi::AbstractVector, ui::AbstractVector, args...)
     A = ForwardDiff.jacobian(x -> f(x, ui, args...), xi)
-    B = ForwardDiff.jacobian(u -> f(convert(typeof(u), xi), u, args...), ui)
+    B = ForwardDiff.jacobian(u -> f(convert.(eltype(u), xi), u, args...), ui)
     A, B
 end
 
diff --git a/lib/ControlSystemsBase/test/test_hammerstein_wiener.jl b/lib/ControlSystemsBase/test/test_hammerstein_wiener.jl
index 2c26e3b2c..b4e0b0e9e 100644
--- a/lib/ControlSystemsBase/test/test_hammerstein_wiener.jl
+++ b/lib/ControlSystemsBase/test/test_hammerstein_wiener.jl
@@ -127,6 +127,15 @@ A, B = ControlSystemsBase.linearize((x,u)->x.^2 + sin.(u), [1.0], [2.0])
 @test A ≈ [2.0;;]
 @test B ≈ [cos(2);;]
 
+# The state may have a different length and array type than the input
+using StaticArrays, ComponentArrays
+A, B = ControlSystemsBase.linearize((x,u)->SA[x[2], -sin(x[1]) + u[1]*u[2], x[3]], SA[0.0, 1.0, 2.0], SA[2.0, 3.0])
+@test A ≈ [0 1 0; -1 0 0; 0 0 1]
+@test B ≈ [0 0; 3 2; 0 0]
+A, B = ControlSystemsBase.linearize((x,u)->[x.v, -x.p + u[1]], ComponentArray(p=1.0, v=2.0), [3.0])
+@test A ≈ [0 1; -1 0]
+@test B ≈ [0; 1;;]
+
 ## Test nonlinear_components coverage ==========================================
 using ControlSystemsBase: Saturation, DeadZone, Offset, Hysteresis, describing_function, deadzone