def symulacja_histereza(a, uzad, y0, yzad, T, h, hist):
    t = np.arange(0, T, h)
    y = np.zeros(t.shape[0])
    e = np.zeros(t.shape[0])
    u = np.zeros(t.shape[0])

    y[0] = y0
    e[0] = yzad - y0
    if(e[0]>0): u[0]=uzad
    else: u[0]=0

    for i in range(t.shape[0]-1):
        y[i+1] = y[i] + h*(a*y[i]+u[i])
        e[i+1] = yzad - y[i+1]
        if (e[i+1] > hist): u[i+1] = uzad
        elif (e[i+1] < -hist): u[i + 1] = 0
        else:
            u[i+1] = u[i]
    return t, y, e, u