def realdvig(xtt,kk1,TT,yti1,ytin1):
    yp=kk1*xtt  #усилитель
    yti1=yp+yti1  #Интегратор
    ytin1=(yti1+TT*ytin1)/(TT+1)
    return [yti1,ytin1]
 	    
def tahogen(xtt,kk2,yti2):
    yp=kk2*xtt   
    yti2=yp+yti2 
    return yti2
	    
def nechus(xtt,gran):
    if xtt<gran and xtt>(-gran):
        ytt=0
    elif xtt>=gran:
        ytt=xtt-gran
    elif xtt<=(-gran):
        ytt=xtt+gran
    return ytt