% tp optimisation 

clear all;
close all;
clc;

%-----------------------------------------------
%variables
%-----------------------------------------------
ksi = 0.636;
Wn = 2.71;



%-----------------------------------------------
%ENTREE DE REFERENCE U(t)
%-----------------------------------------------
U = [ones(30,1); 0.5*ones(25,1); -0.2*ones(35,1); 0.2*ones(35,1); 0.6*ones(25,1); -0.1*ones(19,1)];
t=0:(length(U)-1);
figure
plot(t,U); 

%-----------------------------------------------
%ETUDE SYSTEME NON CORRIGE
%-----------------------------------------------
num = [1];
den = [1 3 3 1];
Gs = lsim(tf(num,den), U, t);
hold on;
plot(t, Gs, 'r'), title('r閜onse du syst鑝e non corrig