y_arr[i] = y
    x_arr[i] = x
    e_arr[i] = e
    u_arr[i] = u
    if i < int(iterations - iterations* 0.6):
        y_need_arr[i] = y0 + 10
    elif i < int(iterations - iterations * 0.3):
        y_need_arr[i] = y0 + 20
    else:
        y_need_arr[i] = y0 + 30

    e = y_need_arr[i]-y
    e_sum += e*h
    u = kp * e + ki * e_sum
    x = x + h*(y)
    rand = 20* np.random.randn()
    y = y + h*(a * x + u+rand)