diff --git a/src/pyrecest/_backend/_shared_numpy/random.py b/src/pyrecest/_backend/_shared_numpy/random.py
index dc5569f25..02db1e8cc 100644
--- a/src/pyrecest/_backend/_shared_numpy/random.py
+++ b/src/pyrecest/_backend/_shared_numpy/random.py
@@ -90,7 +90,10 @@ def _validate_uniform_bounds(low, high):
 
 def _uniform(low=0.0, high=1.0, size=None):
     _validate_uniform_bounds(low, high)
-    return _np.random.uniform(low, high, _normalize_size(size))
+    try:
+        return _np.random.uniform(low, high, _normalize_size(size))
+    except OverflowError as exc:
+        raise OverflowError("high - low range exceeds valid bounds") from exc
 
 
 uniform = _modify_func_default_dtype(
diff --git a/src/pyrecest/filters/mem_rbpf_tracker.py b/src/pyrecest/filters/mem_rbpf_tracker.py
index fec88b01d..056ec5f9c 100644
--- a/src/pyrecest/filters/mem_rbpf_tracker.py
+++ b/src/pyrecest/filters/mem_rbpf_tracker.py
@@ -317,6 +317,13 @@ def predict_linear(
         shape_system_matrix=None,
         shape_sys_noise=None,
     ):
+        if inputs is not None:
+            inputs = array(inputs)
+            expected_shape = self.kinematic_state.shape
+            if inputs.shape != expected_shape:
+                raise ValueError(
+                    f"inputs must have shape {expected_shape}, got {inputs.shape}"
+                )
         if system_matrix is not None:
             self.system_matrix = array(system_matrix)
             self._validate_system_matrix(self.system_matrix)
@@ -326,7 +333,7 @@ def predict_linear(
             )
         self.kinematic_state = self.system_matrix @ self.kinematic_state
         if inputs is not None:
-            self.kinematic_state = self.kinematic_state + array(inputs)
+            self.kinematic_state = self.kinematic_state + inputs
         self.covariance = self._symmetrize(
             self.system_matrix @ self.covariance @ self.system_matrix.T + self.sys_noise
         )
diff --git a/tests/filters/test_mem_rbpf_control_input_validation.py b/tests/filters/test_mem_rbpf_control_input_validation.py
new file mode 100644
index 000000000..15148abb3
--- /dev/null
+++ b/tests/filters/test_mem_rbpf_control_input_validation.py
@@ -0,0 +1,56 @@
+import unittest
+
+import numpy.testing as npt
+import pyrecest.backend
+from pyrecest.backend import array, diag, eye
+from pyrecest.filters.mem_rbpf_tracker import MEMRBPFTracker
+
+
+@unittest.skipIf(
+    pyrecest.backend.__backend_name__ != "numpy",
+    reason="MEM-RBPF tracker tests currently use numpy.testing assertions",
+)
+class MEMRBPFControlInputValidationTest(unittest.TestCase):
+    @staticmethod
+    def _tracker():
+        return MEMRBPFTracker(
+            kinematic_state=array([0.0, 0.0, 1.0, -0.5]),
+            covariance=eye(4),
+            shape_state=array([0.2, 2.0, 1.0]),
+            shape_covariance=diag(array([0.05, 0.1, 0.1])),
+            meas_noise_cov=0.05 * eye(2),
+            sys_noise=0.01 * eye(4),
+            shape_sys_noise=diag(array([0.01, 0.01, 0.01])),
+            n_particles=8,
+            resampling_threshold=0,
+            rng=0,
+        )
+
+    def test_rejects_broadcastable_wrong_sized_input_without_mutating_state(self):
+        tracker = self._tracker()
+        prior_state = tracker.kinematic_state.copy()
+        prior_covariance = tracker.covariance.copy()
+        prior_system_matrix = tracker.system_matrix.copy()
+        prior_sys_noise = tracker.sys_noise.copy()
+        prior_theta = tracker.theta.copy()
+        prior_axis = tracker.axis.copy()
+        prior_axis_covariances = tracker.axis_covariances.copy()
+
+        with self.assertRaisesRegex(ValueError, r"inputs must have shape \(4,\)"):
+            tracker.predict_linear(
+                system_matrix=2.0 * eye(4),
+                sys_noise=3.0 * eye(4),
+                inputs=array([2.0]),
+            )
+
+        npt.assert_array_equal(tracker.kinematic_state, prior_state)
+        npt.assert_array_equal(tracker.covariance, prior_covariance)
+        npt.assert_array_equal(tracker.system_matrix, prior_system_matrix)
+        npt.assert_array_equal(tracker.sys_noise, prior_sys_noise)
+        npt.assert_array_equal(tracker.theta, prior_theta)
+        npt.assert_array_equal(tracker.axis, prior_axis)
+        npt.assert_array_equal(tracker.axis_covariances, prior_axis_covariances)
+
+
+if __name__ == "__main__":
+    unittest.main()