diff --git a/identificationScript.m b/identificationScript.m
old mode 100755
new mode 100644
index 5afc9ad..4f067ae
--- a/identificationScript.m
+++ b/identificationScript.m
@@ -55,6 +55,11 @@ data            = iddata(Y0,U0,Te,'Frequency',w0); %Ici peut-etre changer avec f
 Hn4sid_fd       = n4sid(data,ordre);
 y2              = lsim(ss(Hn4sid_fd), un, tn);
 
+%% Fonction de transfert
+[num, den] = ss2tf(Hn4sid_fd.a, Hn4sid_fd.b, Hn4sid_fd.c, Hn4sid_fd.d)
+system_tf = tf(num, den)
+
+
 %%% Identification via Loewner
 wid             = 2*pi*f0(f0<BP(end)/2);
 wRange          = 1:floor(length(wid)/2)*2;
@@ -117,6 +122,7 @@ Gb = tf([Kb], [1 0 0])
 
 figure()
 bode(Gb)
+%margin(Gb)
 title('Bode système rail')
 
 Cb = tf([a*T 1], [T, 1])*Kp; %Correcteur d'avance de phase
@@ -132,9 +138,38 @@ Hc = d2c(H);
 Lbo = Cb*Hc*Gb;
 Lbf = Lbo / (1+Lbo);
 Margin = allmargin(Lbf);
-h=bodeplot(Lbf);
-margin(Lbf);
-title({'Marge de phase et gain pour le système complet','Gm= Inf Pm =-40.6 deg (at 5.97rad/s)'});
+SysO=bodeplot(Lbo);
+margin(Lbo);
+title({'Marge de phase et gain pour le système complet BO','Gm= Inf Pm =-40.6 deg (at 5.97rad/s)'});
+
+%% Reponse du système entier
+var3.time = [0:Te:1000*Te]';
+var3.signals.values = zeros(1, 1001)'
+var3.signals.dimensions= 1 ;
+var3.signals.values(1:150) = 0;
+var3.signals.values(151:350) = -20;
+var3.signals.values(351:550) = 10;
+var3.signals.values(551:700) = -30;
+var3.signals.values(701:1000) = 0;
+
+Tf = var3.time(end);
+
+
+load simout4_vals.mat;
+load simout3_vals.mat;
+pos_sortie2 = simout4.signals.values;
+pos_entre = var3.signals.values(1:928,:);
+commande4 = simout3.signals.values + 5; % Ajout de offset, car à plat la tension vaut +5V
+Tf3 = var3.time(1:length(simout3.signals.values),:);
+figure()
+hold on;
+Tf2 = var3.time(1:length(simout4.signals.values),:);
+
+plot(Tf2,pos_entre);
+plot(Tf2,pos_sortie2);
+plot(Tf3,commande4);
+legend('Position d entrée','Position de sortie','Commande en tension')
+title("Reponse du système entièr");