From 4f1dadba3434c29e1d36529fb496deeca38c5d84 Mon Sep 17 00:00:00 2001
From: Ogarkov Ilya <OgarkovIA@mpei.ru>
Date: Sun, 23 Nov 2025 15:55:23 +0300
Subject: [PATCH] =?UTF-8?q?=D0=9E=D1=82=D1=87=D1=91=D1=82=20=D0=BF=D0=BE?=
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---
 TEMA7/6.4.py       |  61 +++++++
 TEMA7/Figure_1.png | Bin 0 -> 35408 bytes
 TEMA7/control.py   | 176 ++++++++++++++++++
 TEMA7/report.md    | 445 +++++++++++++++++++++++++++++++++++++++++++++
 4 files changed, 682 insertions(+)
 create mode 100644 TEMA7/6.4.py
 create mode 100644 TEMA7/Figure_1.png
 create mode 100644 TEMA7/control.py
 create mode 100644 TEMA7/report.md

diff --git a/TEMA7/6.4.py b/TEMA7/6.4.py
new file mode 100644
index 0000000..a4749de
--- /dev/null
+++ b/TEMA7/6.4.py
@@ -0,0 +1,61 @@
+import math
+
+# Ввод параметров
+znach = input('k1,T,k2,Xm,A,F,N=').split(',')
+k1 = float(znach[0])
+T = float(znach[1])
+k2 = float(znach[2])
+Xm = float(znach[3])
+A = float(znach[4])
+F = float(znach[5])
+N = int(znach[6])
+
+print(f"Параметры системы: k1={k1}, T={T}, k2={k2}, Xm={Xm}")
+print(f"Входной сигнал: A={A}, F={F}, N={N}")
+
+# Создание входного сигнала (синусоида)
+vhod = []
+for i in range(N):
+    vhod.append(A * math.sin((2 * i * math.pi) / F))
+
+print("Входной сигнал:", vhod[:10])  # Покажем первые 10 значений
+
+# Функции компонентов системы
+def realdvig(xtt, kk1, TT, yti1, ytin1):
+    """Модель реального двигателя"""
+    yp = kk1 * xtt  # усилитель
+    yti1 = yp + yti1  # Интегратор
+    ytin1 = (yti1 + TT * ytin1) / (TT + 1)  # Инерционное звено
+    return [yti1, ytin1]
+
+def tahogen(xtt, kk2, yti2):
+    """Модель тахогенератора"""
+    yp = kk2 * xtt  # усилитель
+    yti2 = yp + yti2  # интегратор
+    return yti2
+
+def nechus(xtt, gran):
+    """Зона нечувствительности"""
+    if xtt < gran and xtt > (-gran):
+        ytt = 0
+    elif xtt >= gran:
+        ytt = xtt - gran
+    elif xtt <= (-gran):
+        ytt = xtt + gran
+    return ytt
+
+# Моделирование системы
+yi1 = 0  # состояние интегратора двигателя
+yin1 = 0  # состояние инерционного звена
+yi2 = 0  # состояние интегратора тахогенератора
+
+vyhod = []  # выход системы
+
+for xt in vhod:
+    xt1 = xt - yi2  # отрицательная обратная связь
+    [yi1, yin1] = realdvig(xt1, k1, T, yi1, yin1)
+    yi2 = tahogen(yin1, k2, yi2)
+    yt = nechus(yin1, Xm)
+    vyhod.append(yt)
+
+print('Выход системы y=', vyhod)
diff --git a/TEMA7/Figure_1.png b/TEMA7/Figure_1.png
new file mode 100644
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diff --git a/TEMA7/control.py b/TEMA7/control.py
new file mode 100644
index 0000000..2f6d711
--- /dev/null
+++ b/TEMA7/control.py
@@ -0,0 +1,176 @@
+def signal_delay(input_signal, delay_time):
+    """
+    Реализация устройства задержки сигнала
+    
+    Args:
+        input_signal: список входного сигнала
+        delay_time: время задержки (количество тактов)
+    
+    Returns:
+        list: задержанный сигнал
+    """
+    # Инициализируем выход нулями для первых delay_time тактов
+    output = [0] * delay_time
+    
+    # Добавляем входной сигнал со сдвигом
+    output.extend(input_signal[:-delay_time] if delay_time > 0 else input_signal)
+    
+    return output
+
+# Проверка функции задержки
+print("=== ПРОВЕРКА ФУНКЦИИ ЗАДЕРЖКИ ===")
+test_signal = [1, 2, 3, 4, 5, 6, 7, 8]
+delay = 3
+delayed_signal = signal_delay(test_signal, delay)
+
+print(f"Исходный сигнал: {test_signal}")
+print(f"Задержка: {delay} тактов")
+print(f"Задержанный сигнал: {delayed_signal}")
+
+# Визуализация
+import matplotlib.pyplot as plt
+plt.figure(figsize=(10, 4))
+plt.plot(test_signal, 'bo-', label='Входной сигнал', markersize=8)
+plt.plot(delayed_signal, 'ro-', label=f'Выход (задержка {delay})', markersize=6)
+plt.title('Устройство задержки сигнала')
+plt.xlabel('Время (такты)')
+plt.ylabel('Амплитуда')
+plt.legend()
+plt.grid(True, alpha=0.3)
+plt.show()
+
+def calculate_histogram(data, num_bins):
+    """
+    Расчет гистограммы для выборки данных
+    
+    Args:
+        data: список значений выборки
+        num_bins: количество интервалов разбиения
+    
+    Returns:
+        tuple: (границы интервалов, частоты)
+    """
+    if not data:
+        return [], []
+    
+    min_val = min(data)
+    max_val = max(data)
+    bin_width = (max_val - min_val) / num_bins
+    
+    # Создаем границы интервалов
+    bins = [min_val + i * bin_width for i in range(num_bins + 1)]
+    
+    # Инициализируем счетчики
+    frequencies = [0] * num_bins
+    
+    # Подсчитываем элементы в каждом интервале
+    for value in data:
+        for i in range(num_bins):
+            if bins[i] <= value < bins[i + 1]:
+                frequencies[i] += 1
+                break
+        else:
+            # Обработка максимального значения
+            if value == bins[-1]:
+                frequencies[-1] += 1
+    
+    return bins, frequencies
+
+def print_histogram_table(bins, frequencies):
+    """Вывод гистограммы в виде таблицы"""
+    print("\nГИСТОГРАММА:")
+    print("Интервал\t\tКоличество элементов")
+    print("-" * 45)
+    
+    for i in range(len(frequencies)):
+        lower = bins[i]
+        upper = bins[i + 1]
+        count = frequencies[i]
+        print(f"{lower:8.3f} - {upper:8.3f}\t\t{count:4d}")
+    
+    total = sum(frequencies)
+    print("-" * 45)
+    print(f"Всего:\t\t\t\t{total:4d}")
+
+# Проверка функции гистограммы
+print("\n=== ПРОВЕРКА ФУНКЦИИ ГИСТОГРАММЫ ===")
+import random
+
+# Генерируем тестовые данные (нормальное распределение)
+test_data = [random.gauss(0, 1) for _ in range(1000)]
+bins, freq = calculate_histogram(test_data, 10)
+
+print_histogram_table(bins, freq)
+
+# Визуализация гистограммы
+plt.figure(figsize=(12, 5))
+
+plt.subplot(1, 2, 1)
+plt.hist(test_data, bins=10, alpha=0.7, edgecolor='black')
+plt.title('Гистограмма (matplotlib)')
+plt.xlabel('Значение')
+plt.ylabel('Частота')
+plt.grid(True, alpha=0.3)
+
+plt.subplot(1, 2, 2)
+# Рисуем нашу гистограмму
+bin_centers = [(bins[i] + bins[i+1])/2 for i in range(len(bins)-1)]
+plt.bar(bin_centers, freq, width=(bins[1]-bins[0])*0.8, 
+        alpha=0.7, edgecolor='black')
+plt.title('Наша гистограмма')
+plt.xlabel('Значение')
+plt.ylabel('Частота')
+plt.grid(True, alpha=0.3)
+
+plt.tight_layout()
+plt.show()
+
+# Анонимная функция для расчета линейной регрессии
+linear_regression = lambda b1, b2, X: b1 + b2 * X
+
+# Проверка анонимной функции
+print("\n=== ПРОВЕРКА АНОНИМНОЙ ФУНКЦИИ ЛИНЕЙНОЙ РЕГРЕССИИ ===")
+
+# Тестовые параметры модели
+b1_test = 2.5   # intercept
+b2_test = 1.8   # slope
+X_values = [0, 1, 2, 3, 4, 5]
+
+print(f"Параметры модели: b1 = {b1_test}, b2 = {b2_test}")
+print("Расчет значений Y = b1 + b2*X:")
+print("X\tY")
+print("-" * 12)
+
+for X in X_values:
+    Y = linear_regression(b1_test, b2_test, X)
+    print(f"{X}\t{Y:.2f}")
+
+# Визуализация линейной регрессии
+plt.figure(figsize=(10, 6))
+
+# Генерируем больше точек для плавного графика
+X_smooth = [i/10 for i in range(0, 51)]
+Y_smooth = [linear_regression(b1_test, b2_test, x) for x in X_smooth]
+
+plt.plot(X_smooth, Y_smooth, 'b-', linewidth=2, label=f'Y = {b1_test} + {b2_test}*X')
+plt.plot(X_values, [linear_regression(b1_test, b2_test, x) for x in X_values], 
+         'ro', markersize=8, label='Расчетные точки')
+
+plt.title('Линейная регрессия: Y = b1 + b2*X')
+plt.xlabel('X')
+plt.ylabel('Y')
+plt.legend()
+plt.grid(True, alpha=0.3)
+plt.show()
+
+# Дополнительная проверка с разными параметрами
+print("\n=== ПРОВЕРКА С РАЗНЫМИ ПАРАМЕТРАМИ ===")
+test_cases = [
+    (0, 1, 10),    # Y = X
+    (5, 0.5, 10),  # Y = 5 + 0.5*X
+    (-2, 2, 10)    # Y = -2 + 2*X
+]
+
+for b1, b2, X in test_cases:
+    Y = linear_regression(b1, b2, X)
+    print(f"b1={b1}, b2={b2}, X={X} -> Y = {Y}")
diff --git a/TEMA7/report.md b/TEMA7/report.md
new file mode 100644
index 0000000..c89634f
--- /dev/null
+++ b/TEMA7/report.md
@@ -0,0 +1,445 @@
+# Отчёт по теме 7. Создание пользовательских функций 
+
+Выполнил Огарков Илья, А-03-23
+
+## 1. Начало работы
+
+Создание текстового файла `report.md`
+
+import os
+os.getcwd()
+'C:\\Users\\Ilya\\AppData\\Local\\Programs\\Python\\Python313'
+os.chdir('C:\\Users\\Ilya\\Desktop\\python-labs\\TEMA7')
+os.getcwd()
+'C:\\Users\\Ilya\\Desktop\\python-labs\\TEMA7'
+
+
+## 2. Создание пользовательской функции
+2.1. Первый пример: функция – без аргументов
+
+
+def uspeh():
+    """Подтверждение успеха операции"""
+    print('Выполнено успешно!')
+
+uspeh()
+Выполнено успешно!
+type(uspeh)
+<class 'function'>
+dir(uspeh)
+['__annotations__', '__builtins__', '__call__', '__class__', '__closure__', '__code__', '__defaults__', '__delattr__', '__dict__', '__dir__', '__doc__', '__eq__', '__format__', '__ge__', '__get__', '__getattribute__', '__getstate__', '__globals__', '__gt__', '__hash__', '__init__', '__init_subclass__', '__kwdefaults__', '__le__', '__lt__', '__module__', '__name__', '__ne__', '__new__', '__qualname__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__type_params__']
+
+help(uspeh)
+Help on function uspeh in module __main__:
+
+uspeh()
+    Подтверждение успеха операции
+
+2.2. Пример функции с аргументами
+
+def sravnenie(a,b):
+    """Сравнение a и b"""
+    if a>b:
+        print(a,' больше ',b)
+    elif a<b:
+        print(a, ' меньше ',b)
+    else:
+        print(a, ' равно ',b)
+
+n,m=16,5;sravnenie(n,m)
+16  больше  5
+n,m = 'sasa','ss'; sravnenie(n,m)
+sasa  меньше  ss
+
+2.3. Пример функции, содержащей return
+
+def logistfun(b,a):
+    """Вычисление логистической функции"""
+    import math
+    return a/(1+math.exp(-b))
+
+v,w=1,0.7;z=logistfun(w,v)
+z
+0.6681877721681662
+
+2.4. Сложение для разных типов аргументов
+
+def slozh(a1,a2,a3,a4):
+    """ Сложение значений четырех аргументов"""
+    return a1+a2+a3+a4
+
+slozh(1,2,3,4)
+10
+slozh('1','2','3','4')
+'1234'
+b1=[1,2];b2=[-1,-2];b3=[0,2];b4=[-1,-1]
+q=slozh(b1,b2,b3,b4);q
+[1, 2, -1, -2, 0, 2, -1, -1]
+t1=(1,2);t2=(3,4);t3=(5,6);t4=(7,8)
+slozh(t1,t2,t3,t4)
+(1, 2, 3, 4, 5, 6, 7, 8)
+d1={'a':1};d2={'b':2};d3={'c':3};d4={'d':4}
+slozh(d1,d2,d3,d4)
+Traceback (most recent call last):
+  File "<pyshell#54>", line 1, in <module>
+    slozh(d1,d2,d3,d4)
+  File "<pyshell#44>", line 3, in slozh
+    return a1+a2+a3+a4
+TypeError: unsupported operand type(s) for +: 'dict' and 'dict'
+s1={1,2};s2={3,4};s3={5,6};s4={7,8}
+slozh(s1,s2,s3,s4)
+Traceback (most recent call last):
+  File "<pyshell#57>", line 1, in <module>
+    slozh(s1,s2,s3,s4)
+  File "<pyshell#44>", line 3, in slozh
+    return a1+a2+a3+a4
+TypeError: unsupported operand type(s) for +: 'set' and 'set'
+
+2.5.
+
+def inerz(x,T,ypred):
+    """ Модель устройства с памятью:
+x- текущее значение вх.сигнала,
+T -постоянная времени,
+ypred - предыдущее значение выхода устройства"""
+    y=(x+T*ypred)/(T+1)
+    return y
+
+sps=[0]+[1]*100;sps
+[0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1]
+spsy=[]
+TT=20
+yy=0
+for xx in sps:
+    yy=inerz(xx,TT,yy)
+    spsy.append(yy)
+
+
+3. Функции как объекты.
+3.1. Получение списка атрибутов объекта-функции.
+
+dir(inerz)
+['__annotations__', '__builtins__', '__call__', '__class__', '__closure__', '__code__', '__defaults__', '__delattr__', '__dict__', '__dir__', '__doc__', '__eq__', '__format__', '__ge__', '__get__', '__getattribute__', '__getstate__', '__globals__', '__gt__', '__hash__', '__init__', '__init_subclass__', '__kwdefaults__', '__le__', '__lt__', '__module__', '__name__', '__ne__', '__new__', '__qualname__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__type_params__']
+
+inerz.__doc__ #__doc__ - атрибут, который выводит документационную строку (docstring) функции
+'Модель устройства с памятью:\nx- текущее значение вх.сигнала,\nT -постоянная времени,\nypred - предыдущее значение выхода устройства'
+help(inerz)
+Help on function inerz in module __main__:
+
+inerz(x, T, ypred)
+    Модель устройства с памятью:
+    x- текущее значение вх.сигнала,
+    T -постоянная времени,
+    ypred - предыдущее значение выхода устройства
+
+3.2. Сохранение ссылки на объект-функцию в другой переменной
+
+fnkt=sravnenie
+v=16
+fnkt(v,23)
+16  меньше  23
+
+3.3. Возможность альтернативного определения функции в программе
+
+typ_fun=8
+if typ_fun==1:
+    def func():
+        print('Функция 1')
+else:
+    def func():
+        print('Функция 2')
+
+func()
+Функция 2
+
+
+4. Аргументы функции
+4.1. Изучите возможность использования функции в качестве аргумента другой функции
+
+def fun_arg(fff,a,b,c):
+    """fff-имя функции, используемой 
+	в качестве аргумента функции fun_arg"""
+    return a+fff(c,b)
+
+zz=fun_arg(logistfun,-3,1,0.7);zz
+-2.3318122278318336
+
+4.2. Обязательные и необязательные аргументы
+
+def logistfun(a,b=1):
+    """Вычисление логистической функции"""
+    import math
+    return b/(1+math.exp(-a))
+logistfun(0.7)
+0.6681877721681662
+logistfun(0.7,2)
+1.3363755443363323
+
+4.3. Изучите возможность обращения к функции с произвольным (непозиционным) расположением аргументов
+
+logistfun(b=0.5,a=0.8)
+0.34498724056380625
+
+4.4. Пример со значениями аргументов функции, содержащимися в списке или кортеже
+
+b1234=[b1,b2,b3,b4]
+qq=slozh(*b1234) ;qq # Оператор * распаковывает элементы
+[1, 2, -1, -2, 0, 2, -1, -1]
+uslovniy_list = [1,2,3,4]
+slozh(*uslovniy_list)
+10
+
+4.5. Пример со значениями аргументов функции, содержащимися в словаре
+
+dic4={"a1":1,"a2":2,"a3":3,"a4":4}
+qqq=slozh(**dic4);qqq # Распаковываем значения словаря
+10
+qqq_usl=slozh(*dic4);qqq_usl # Распаковываем ключи словаря
+'a1a2a3a4'
+
+4.6. Смешанные ссылки
+
+e1=(-1,6);dd2={'a3':3,'a4':9}
+qqqq=slozh(*e1,**dd2)
+qqqq
+17
+
+4.7. Переменное число аргументов у функции
+
+def func4(*kort7):
+    """Произвольное число аргументов в составе кортежа"""
+    smm=0
+    for elt in kort7:
+        smm+=elt
+    return smm
+
+func4(-1,2)
+1
+func4(-1,2,0,3,6)
+10
+
+4.8. Комбинация аргументов
+
+def func4(a,b=7,*kort7):
+    """Кортеж - сборка аргументов - должен быть последним!"""
+    smm=0
+    for elt in kort7:
+        smm+=elt
+    return a*smm+b
+
+func4(-1,2,0,3,6)
+-7
+
+4.9. Изменение значений объектов, используемых в качестве аргументов функции
+
+a=90
+def func3(b):
+    a=5*b+67
+
+func3(a);a
+90
+
+sps1=[1,2,3,4]
+def func2(sps):
+    sps[1]=99
+
+    
+func2(sps1)
+print(sps1)
+[1, 99, 3, 4]
+
+5. Специальные типы  пользовательских функций
+5.1. Анонимные функции.
+
+anfun1=lambda: 1.5+math.log10(17.23)
+anfun1()
+2.7362852774480286
+anfun2(17,234)
+19.369215857410143
+anfun3=lambda a,b=234: a+math.log10(b)
+anfun3(100)
+102.36921585741014
+
+5.2. Функции-генераторы
+
+def func5(diap,shag):
+	""" Итератор, возвращающий значения
+	из диапазона от 1 до diap с шагом shag"""
+	for j in range(1,diap+1,shag):
+		yield j
+		
+  for mm in func5(7,3):
+	print(mm)
+1
+4
+7
+
+alp=func5(7,3)
+print(alp.__next__())
+1
+print(alp.__next__())
+4
+print(alp.__next__())
+7
+print(alp.__next__())
+Traceback (most recent call last):
+  File "<pyshell#26>", line 1, in <module>
+    print(alp.__next__())
+StopIteration
+
+6. Локализация объектов в функциях
+6.1. Примеры на локализацию объектов
+
+glb=10
+def func7(arg):
+    loc1=15
+    glb=8
+    return loc1*arg
+
+res=func7(glb);res
+150
+
+def func8(arg):
+    loc1=15
+    print(glb)
+    glb=8
+    return loc1*arg
+
+res=func8(glb);res
+Traceback (most recent call last):
+  File "<pyshell#40>", line 1, in <module>
+    res=func8(glb);res
+  File "<pyshell#39>", line 3, in func8
+    print(glb)
+UnboundLocalError: cannot access local variable 'glb' where it is not associated with a value
+
+glb=11
+def func7(arg):
+    loc1=15
+    global glb
+    print(glb)
+    glb=8
+    return loc1*arg
+res=func7(glb);res
+11
+165
+
+6.2. Выявление локализации объекта с помощью функций locals() и globals() из builtins
+
+globals().keys()
+dict_keys(['__name__', '__doc__', '__package__', '__loader__', '__spec__', '__annotations__', '__builtins__', 'anfun1', 'math', 'anfun2', 'anfun3', 'func5', 'mm', 'alp', 'glb', 'func7', 'res', 'func8'])
+locals().keys()
+dict_keys(['__name__', '__doc__', '__package__', '__loader__', '__spec__', '__annotations__', '__builtins__', 'anfun1', 'math', 'anfun2', 'anfun3', 'func5', 'mm', 'alp', 'glb', 'func7', 'res', 'func8'])
+
+def func8(arg):
+    loc1=15
+    glb=8
+    print(globals().keys())
+    print(locals().keys())
+    return loc1*arg
+
+hh=func8(glb)
+dict_keys(['__name__', '__doc__', '__package__', '__loader__', '__spec__', '__annotations__', '__builtins__', 'anfun1', 'math', 'anfun2', 'anfun3', 'func5', 'mm', 'alp', 'glb', 'func7', 'res', 'func8'])
+dict_keys(['arg', 'loc1', 'glb'])
+hh
+120
+'glb' in globals().keys()
+True
+
+6.3. Локализация объектов при использовании вложенных функций
+
+def func9(arg2,arg3):
+    def func9_1(arg1):
+        loc1=15
+        glb1=8
+        print('glob_func9_1:',globals().keys())
+        print('locl_func9_1:',locals().keys())
+        return loc1*arg1
+    loc1=5
+    glb=func9_1(loc1)
+    print('loc_func9:',locals().keys())
+    print('glob_func9:',globals().keys())
+    return arg2+arg3*glb
+
+kk=func9(10,1)
+glob_func9_1: dict_keys(['__name__', '__doc__', '__package__', '__loader__', '__spec__', '__annotations__', '__builtins__', 'anfun1', 'math', 'anfun2', 'anfun3', 'func5', 'mm', 'alp', 'glb', 'func7', 'res', 'func8', 'hh', 'func9'])
+locl_func9_1: dict_keys(['arg1', 'loc1', 'glb1'])
+loc_func9: dict_keys(['arg2', 'arg3', 'func9_1', 'loc1', 'glb'])
+glob_func9: dict_keys(['__name__', '__doc__', '__package__', '__loader__', '__spec__', '__annotations__', '__builtins__', 'anfun1', 'math', 'anfun2', 'anfun3', 'func5', 'mm', 'alp', 'glb', 'func7', 'res', 'func8', 'hh', 'func9'])
+
+6.4.
+
+import math
+
+# Ввод параметров
+znach = input('k1,T,k2,Xm,A,F,N=').split(',')
+k1 = float(znach[0])
+T = float(znach[1])
+k2 = float(znach[2])
+Xm = float(znach[3])
+A = float(znach[4])
+F = float(znach[5])
+N = int(znach[6])
+
+print(f"Параметры системы: k1={k1}, T={T}, k2={k2}, Xm={Xm}")
+print(f"Входной сигнал: A={A}, F={F}, N={N}")
+
+# Создание входного сигнала (синусоида)
+vhod = []
+for i in range(N):
+    vhod.append(A * math.sin((2 * i * math.pi) / F))
+
+print("Входной сигнал:", vhod[:10])  # Покажем первые 10 значений
+
+# Функции компонентов системы
+def realdvig(xtt, kk1, TT, yti1, ytin1):
+    """Модель реального двигателя"""
+    yp = kk1 * xtt  # усилитель
+    yti1 = yp + yti1  # Интегратор
+    ytin1 = (yti1 + TT * ytin1) / (TT + 1)  # Инерционное звено
+    return [yti1, ytin1]
+
+def tahogen(xtt, kk2, yti2):
+    """Модель тахогенератора"""
+    yp = kk2 * xtt  # усилитель
+    yti2 = yp + yti2  # интегратор
+    return yti2
+
+def nechus(xtt, gran):
+    """Зона нечувствительности"""
+    if xtt < gran and xtt > (-gran):
+        ytt = 0
+    elif xtt >= gran:
+        ytt = xtt - gran
+    elif xtt <= (-gran):
+        ytt = xtt + gran
+    return ytt
+
+# Моделирование системы
+yi1 = 0  # состояние интегратора двигателя
+yin1 = 0  # состояние инерционного звена
+yi2 = 0  # состояние интегратора тахогенератора
+
+vyhod = []  # выход системы
+
+for xt in vhod:
+    xt1 = xt - yi2  # отрицательная обратная связь
+    [yi1, yin1] = realdvig(xt1, k1, T, yi1, yin1)
+    yi2 = tahogen(yin1, k2, yi2)
+    yt = nechus(yin1, Xm)
+    vyhod.append(yt)
+
+print('Выход системы y=', vyhod)
+k1,T,k2,Xm,A,F,N=1,2,3,4,5,6,7
+Параметры системы: k1=1.0, T=2.0, k2=3.0, Xm=4.0
+Входной сигнал: A=5.0, F=6.0, N=7
+Входной сигнал: [0.0, 4.330127018922193, 4.330127018922194, 6.123233995736766e-16, -4.330127018922193, -4.330127018922193, -1.2246467991473533e-15]
+Выход системы y= [0, 0, 0, 0, -3.430711797903516, -4.909726376383112, 0]
+
+
+
+
+
+
+
+