From d78878ce13e0f891583d1ed875c4558ac433b432 Mon Sep 17 00:00:00 2001
From: ataban <ataban@noreply.codeberg.org>
Date: Wed, 15 Apr 2026 20:53:43 +0200
Subject: [PATCH] =?UTF-8?q?d=C3=A9but=20de=20travail=20sur=20la=20presenta?=
 =?UTF-8?q?tion?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 presentation/Illustrations/Schema_Forces.png  |  Bin 0 -> 39346 bytes
 .../Illustrations/StepRespnseRail.png         |  Bin 0 -> 32956 bytes
 .../Illustrations/StepRespnseRail.svg         |  460 +++++
 presentation/Illustrations/bodeCorrecteur.svg |  368 ++++
 presentation/Illustrations/bodeRail.svg       |  245 +++
 presentation/Illustrations/bodeRail1.svg      |  306 +++
 presentation/Illustrations/fig1.svg           | 1831 +++++++++++++++++
 presentation/Illustrations/fig2.png           |  Bin 0 -> 74005 bytes
 presentation/Illustrations/fig2.svg           |  268 +++
 presentation/Illustrations/multisine1.svg     | 1831 +++++++++++++++++
 presentation/Illustrations/multisine2.svg     |  513 +++++
 11 files changed, 5822 insertions(+)
 create mode 100644 presentation/Illustrations/Schema_Forces.png
 create mode 100644 presentation/Illustrations/StepRespnseRail.png
 create mode 100755 presentation/Illustrations/StepRespnseRail.svg
 create mode 100755 presentation/Illustrations/bodeCorrecteur.svg
 create mode 100755 presentation/Illustrations/bodeRail.svg
 create mode 100755 presentation/Illustrations/bodeRail1.svg
 create mode 100755 presentation/Illustrations/fig1.svg
 create mode 100644 presentation/Illustrations/fig2.png
 create mode 100755 presentation/Illustrations/fig2.svg
 create mode 100755 presentation/Illustrations/multisine1.svg
 create mode 100755 presentation/Illustrations/multisine2.svg

diff --git a/presentation/Illustrations/Schema_Forces.png b/presentation/Illustrations/Schema_Forces.png
new file mode 100644
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+      /><line y2="51" style="fill:none;" x1="85" x2="85" y1="216"
+      /><line y2="51" style="fill:none;" x1="507" x2="507" y1="216"
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+      /><line y2="174.75" style="fill:none;" x1="85" x2="89.22" y1="174.75"
+      /><line y2="133.5" style="fill:none;" x1="85" x2="89.22" y1="133.5"
+      /><line y2="92.25" style="fill:none;" x1="85" x2="89.22" y1="92.25"
+      /><line y2="51" style="fill:none;" x1="85" x2="89.22" y1="51"
+      /><line y2="216" style="fill:none;" x1="507" x2="502.78" y1="216"
+      /><line y2="174.75" style="fill:none;" x1="507" x2="502.78" y1="174.75"
+      /><line y2="133.5" style="fill:none;" x1="507" x2="502.78" y1="133.5"
+      /><line y2="92.25" style="fill:none;" x1="507" x2="502.78" y1="92.25"
+      /><line y2="51" style="fill:none;" x1="507" x2="502.78" y1="51"
+    /></g
+    ><g transform="translate(79.6667,216)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-8" xml:space="preserve" y="5.5" style="stroke:none;"
+      >0</text
+    ></g
+    ><g transform="translate(79.6667,174.75)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-8" xml:space="preserve" y="5.5" style="stroke:none;"
+      >5</text
+    ></g
+    ><g transform="translate(79.6667,133.5)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-15" xml:space="preserve" y="5.5" style="stroke:none;"
+      >10</text
+    ></g
+    ><g transform="translate(79.6667,92.25)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-15" xml:space="preserve" y="5.5" style="stroke:none;"
+      >15</text
+    ></g
+    ><g transform="translate(79.6667,51)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-15" xml:space="preserve" y="5.5" style="stroke:none;"
+      >20</text
+    ></g
+    ><g transform="translate(60.6667,133.4999) rotate(-90)" style="font-size:14.6667px; text-rendering:geometricPrecision; color-rendering:optimizeQuality; image-rendering:optimizeQuality; font-family:'SansSerif'; color-interpolation:linearRGB;"
+    ><text x="-50.5" xml:space="preserve" y="-4" style="stroke:none;"
+      >Magnitude (dB)</text
+    ></g
+    ><g style="stroke-linecap:butt; fill:rgb(0,114,189); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; stroke-linejoin:round; stroke:rgb(0,114,189); color-interpolation:linearRGB; stroke-width:0.6667;"
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+    ><g style="fill:white; text-rendering:optimizeSpeed; color-rendering:optimizeSpeed; image-rendering:optimizeSpeed; shape-rendering:crispEdges; stroke:white; color-interpolation:sRGB;"
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+      /><line y2="230.11" style="fill:none;" x1="451.8363" x2="451.8363" y1="228"
+      /><line y2="230.11" style="fill:none;" x1="465.0173" x2="465.0173" y1="228"
+      /><line y2="230.11" style="fill:none;" x1="475.2413" x2="475.2413" y1="228"
+      /><line y2="230.11" style="fill:none;" x1="483.595" x2="483.595" y1="228"
+      /><line y2="230.11" style="fill:none;" x1="490.6578" x2="490.6578" y1="228"
+      /><line y2="230.11" style="fill:none;" x1="496.776" x2="496.776" y1="228"
+      /><line y2="230.11" style="fill:none;" x1="502.1726" x2="502.1726" y1="228"
+      /><line y2="230.11" style="fill:none;" x1="507" x2="507" y1="228"
+    /></g
+    ><g transform="translate(72,396)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >10</text
+    ></g
+    ><g transform="translate(87,390)" style="font-size:10.6667px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >-2</text
+    ></g
+    ><g transform="translate(178,396)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >10</text
+    ></g
+    ><g transform="translate(193,390)" style="font-size:10.6667px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >-1</text
+    ></g
+    ><g transform="translate(285,396)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >10</text
+    ></g
+    ><g transform="translate(300,390)" style="font-size:10.6667px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >0</text
+    ></g
+    ><g transform="translate(391,396)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >10</text
+    ></g
+    ><g transform="translate(406,390)" style="font-size:10.6667px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >1</text
+    ></g
+    ><g transform="translate(496,396)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >10</text
+    ></g
+    ><g transform="translate(511,390)" style="font-size:10.6667px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >2</text
+    ></g
+    ><g style="fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; stroke-linejoin:round; stroke:rgb(102,102,102); color-interpolation:linearRGB; stroke-width:0.6667;"
+    ><line y2="228" style="fill:none;" x1="85" x2="85" y1="374"
+      /><line y2="228" style="fill:none;" x1="507" x2="507" y1="374"
+      /><line y2="372.5686" style="fill:none;" x1="85" x2="89.22" y1="372.5686"
+      /><line y2="301" style="fill:none;" x1="85" x2="89.22" y1="301"
+      /><line y2="229.4314" style="fill:none;" x1="85" x2="89.22" y1="229.4314"
+      /><line y2="372.5686" style="fill:none;" x1="507" x2="502.78" y1="372.5686"
+      /><line y2="301" style="fill:none;" x1="507" x2="502.78" y1="301"
+      /><line y2="229.4314" style="fill:none;" x1="507" x2="502.78" y1="229.4314"
+    /></g
+    ><g transform="translate(79.6667,372.5686)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-8" xml:space="preserve" y="5.5" style="stroke:none;"
+      >0</text
+    ></g
+    ><g transform="translate(79.6667,301)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-15" xml:space="preserve" y="5.5" style="stroke:none;"
+      >30</text
+    ></g
+    ><g transform="translate(79.6667,229.4314)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-15" xml:space="preserve" y="5.5" style="stroke:none;"
+      >60</text
+    ></g
+    ><g transform="translate(60.6667,300.9999) rotate(-90)" style="font-size:14.6667px; text-rendering:geometricPrecision; color-rendering:optimizeQuality; image-rendering:optimizeQuality; font-family:'SansSerif'; color-interpolation:linearRGB;"
+    ><text x="-40" xml:space="preserve" y="-4" style="stroke:none;"
+      >Phase (deg)</text
+    ></g
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+    ><path d="M84.9497 369.8579 L87.7713 369.6941 L94.9095 369.2097 L102.0477 368.6439 L109.1859 367.9828 L116.3241 367.2107 L123.4622 366.3091 L130.6004 365.2563 L137.7386 364.0277 L144.8768 362.5943 L152.015 360.9231 L159.1532 358.9763 L166.2914 356.711 L173.4296 354.079 L180.5678 351.0275 L187.706 347.4994 L194.8442 343.4356 L201.9824 338.7781 L209.1206 333.4754 L216.2588 327.4903 L223.397 320.8103 L230.5352 313.4603 L237.6734 305.5154 L244.8116 297.1116 L251.9498 288.4484 L259.088 279.7817 L266.2261 271.4041 L273.3643 263.6175 L280.5025 256.7041 L287.6407 250.9044 L294.7789 246.4052 L301.9171 243.3382 L309.0553 241.7854 L312.6244 241.5904 L316.1935 241.7854 L323.3317 243.3382 L330.4699 246.4052 L337.6081 250.9044 L344.7463 256.7041 L351.8845 263.6175 L359.0227 271.4041 L366.1609 279.7817 L373.299 288.4484 L380.4373 297.1116 L387.5755 305.5154 L394.7137 313.4603 L401.8518 320.8103 L408.99 327.4903 L416.1282 333.4754 L423.2664 338.7781 L430.4046 343.4356 L437.5428 347.4994 L444.681 351.0275 L451.8192 354.079 L458.9574 356.711 L466.0956 358.9763 L473.2338 360.9231 L480.372 362.5943 L487.5102 364.0277 L494.6484 365.2563 L501.7866 366.3091 L507.0503 366.974" style="fill:none; fill-rule:evenodd;"
+    /></g
+    ><g transform="translate(295,44.7)" style="font-size:14.6667px; text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; color-interpolation:linearRGB; font-weight:bold;"
+    ><text x="-117.5" xml:space="preserve" y="-4" style="stroke:none;"
+      >Bode correcteur avance de phase</text
+    ></g
+    ><g transform="translate(295,398.6667)" style="font-size:14.6667px; text-rendering:geometricPrecision; color-rendering:optimizeQuality; image-rendering:optimizeQuality; font-family:'SansSerif'; color-interpolation:linearRGB;"
+    ><text x="-60" xml:space="preserve" y="15" style="stroke:none;"
+      >Frequency  (rad/s)</text
+    ></g
+  ></g
+></svg
+>
diff --git a/presentation/Illustrations/bodeRail.svg b/presentation/Illustrations/bodeRail.svg
new file mode 100755
index 0000000..6eb2784
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+    ><g transform="translate(79.6667,216)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-20" xml:space="preserve" y="5.5" style="stroke:none;"
+      >-40</text
+    ></g
+    ><g transform="translate(79.6667,183)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-20" xml:space="preserve" y="5.5" style="stroke:none;"
+      >-30</text
+    ></g
+    ><g transform="translate(79.6667,150)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-20" xml:space="preserve" y="5.5" style="stroke:none;"
+      >-20</text
+    ></g
+    ><g transform="translate(79.6667,117)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-20" xml:space="preserve" y="5.5" style="stroke:none;"
+      >-10</text
+    ></g
+    ><g transform="translate(79.6667,84)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-8" xml:space="preserve" y="5.5" style="stroke:none;"
+      >0</text
+    ></g
+    ><g transform="translate(79.6667,51)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-15" xml:space="preserve" y="5.5" style="stroke:none;"
+      >10</text
+    ></g
+    ><g transform="translate(55.6667,133.4999) rotate(-90)" style="font-size:14.6667px; text-rendering:geometricPrecision; color-rendering:optimizeQuality; image-rendering:optimizeQuality; font-family:'SansSerif'; color-interpolation:linearRGB;"
+    ><text x="-50.5" xml:space="preserve" y="-4" style="stroke:none;"
+      >Magnitude (dB)</text
+    ></g
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+    ><g style="fill:white; text-rendering:optimizeSpeed; color-rendering:optimizeSpeed; image-rendering:optimizeSpeed; shape-rendering:crispEdges; stroke:white; color-interpolation:sRGB;"
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+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >10</text
+    ></g
+    ><g transform="translate(89,390)" style="font-size:10.6667px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >0</text
+    ></g
+    ><g transform="translate(496,396)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >10</text
+    ></g
+    ><g transform="translate(511,390)" style="font-size:10.6667px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >1</text
+    ></g
+    ><g style="fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; stroke-linejoin:round; stroke:rgb(102,102,102); color-interpolation:linearRGB; stroke-width:0.6667;"
+    ><line y2="228" style="fill:none;" x1="85" x2="85" y1="374"
+      /><line y2="228" style="fill:none;" x1="507" x2="507" y1="374"
+      /><line y2="372.5686" style="fill:none;" x1="85" x2="89.22" y1="372.5686"
+      /><line y2="336.7843" style="fill:none;" x1="85" x2="89.22" y1="336.7843"
+      /><line y2="301" style="fill:none;" x1="85" x2="89.22" y1="301"
+      /><line y2="265.2157" style="fill:none;" x1="85" x2="89.22" y1="265.2157"
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+      /><line y2="336.7843" style="fill:none;" x1="507" x2="502.78" y1="336.7843"
+      /><line y2="301" style="fill:none;" x1="507" x2="502.78" y1="301"
+      /><line y2="265.2157" style="fill:none;" x1="507" x2="502.78" y1="265.2157"
+      /><line y2="229.4314" style="fill:none;" x1="507" x2="502.78" y1="229.4314"
+    /></g
+    ><g transform="translate(79.6667,372.5686)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-27" xml:space="preserve" y="5.5" style="stroke:none;"
+      >-181</text
+    ></g
+    ><g transform="translate(79.6667,336.7843)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-38" xml:space="preserve" y="5.5" style="stroke:none;"
+      >-180.5</text
+    ></g
+    ><g transform="translate(79.6667,301)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-27" xml:space="preserve" y="5.5" style="stroke:none;"
+      >-180</text
+    ></g
+    ><g transform="translate(79.6667,265.2157)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-38" xml:space="preserve" y="5.5" style="stroke:none;"
+      >-179.5</text
+    ></g
+    ><g transform="translate(79.6667,229.4314)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-27" xml:space="preserve" y="5.5" style="stroke:none;"
+      >-179</text
+    ></g
+    ><g transform="translate(37.6667,300.9999) rotate(-90)" style="font-size:14.6667px; text-rendering:geometricPrecision; color-rendering:optimizeQuality; image-rendering:optimizeQuality; font-family:'SansSerif'; color-interpolation:linearRGB;"
+    ><text x="-40" xml:space="preserve" y="-4" style="stroke:none;"
+      >Phase (deg)</text
+    ></g
+    ><g style="stroke-linecap:butt; fill:rgb(0,114,189); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; stroke-linejoin:round; stroke:rgb(0,114,189); color-interpolation:linearRGB; stroke-width:0.6667;"
+    ><path d="M84.9497 301 L95.8205 301 L117.4615 301 L139.1026 301 L160.7436 301 L182.3846 301 L204.0257 301 L225.6667 301 L247.3077 301 L268.9487 301 L290.5898 301 L312.2308 301 L333.8718 301 L355.5128 301 L377.1538 301 L398.7949 301 L420.4359 301 L442.0769 301 L463.718 301 L485.359 301 L507 301 L507.0503 301" style="fill:none; fill-rule:evenodd;"
+    /></g
+    ><g transform="translate(295,44.7)" style="font-size:14.6667px; text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; color-interpolation:linearRGB; font-weight:bold;"
+    ><text x="-63" xml:space="preserve" y="-4" style="stroke:none;"
+      >Bode système rail</text
+    ></g
+    ><g transform="translate(295,398.6667)" style="font-size:14.6667px; text-rendering:geometricPrecision; color-rendering:optimizeQuality; image-rendering:optimizeQuality; font-family:'SansSerif'; color-interpolation:linearRGB;"
+    ><text x="-60" xml:space="preserve" y="15" style="stroke:none;"
+      >Frequency  (rad/s)</text
+    ></g
+  ></g
+></svg
+>
diff --git a/presentation/Illustrations/bodeRail1.svg b/presentation/Illustrations/bodeRail1.svg
new file mode 100755
index 0000000..a939d43
--- /dev/null
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+    /></g
+    ><g style="fill:white; text-rendering:optimizeSpeed; color-rendering:optimizeSpeed; image-rendering:optimizeSpeed; shape-rendering:crispEdges; stroke:white; color-interpolation:sRGB;"
+    ><path style="stroke:none;" d="M511 277 L511 215 L260 215 L260 277 Z"
+    /></g
+    ><g transform="translate(307,224.0732)" style="text-rendering:geometricPrecision; font-size:10.8px; color-interpolation:linearRGB; color-rendering:optimizeQuality; image-rendering:optimizeQuality;"
+    ><text x="0" xml:space="preserve" y="4" style="stroke:none;"
+      >Signal de sortie observée</text
+    ></g
+    ><g style="stroke-linecap:butt; fill:rgb(0,114,189); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; stroke-linejoin:round; stroke:rgb(0,114,189); color-interpolation:linearRGB; stroke-width:0.6667;"
+    ><line y2="224.0732" style="fill:none;" x1="264" x2="304" y1="224.0732"
+    /></g
+    ><g transform="translate(307,238.6911)" style="text-rendering:geometricPrecision; font-size:10.8px; color-interpolation:linearRGB; color-rendering:optimizeQuality; image-rendering:optimizeQuality;"
+    ><text x="0" xml:space="preserve" y="4" style="stroke:none;"
+      >Sortie simuléee avec n4sid en temporel</text
+    ></g
+    ><g style="stroke-linecap:butt; fill:rgb(217,83,25); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; stroke-linejoin:round; stroke:rgb(217,83,25); color-interpolation:linearRGB; stroke-width:0.6667;"
+    ><line y2="238.6911" style="fill:none;" x1="264" x2="304" y1="238.6911"
+    /></g
+    ><g transform="translate(307,253.3089)" style="text-rendering:geometricPrecision; font-size:10.8px; color-interpolation:linearRGB; color-rendering:optimizeQuality; image-rendering:optimizeQuality;"
+    ><text x="0" xml:space="preserve" y="4" style="stroke:none;"
+      >Sortie simuléee avec n4sid en fréquenciel</text
+    ></g
+    ><g style="stroke-linecap:butt; fill:rgb(237,177,32); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; stroke-linejoin:round; stroke:rgb(237,177,32); color-interpolation:linearRGB; stroke-width:0.6667;"
+    ><line y2="253.3089" style="fill:none;" x1="264" x2="304" y1="253.3089"
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+    ><g transform="translate(307,267.9268)" style="text-rendering:geometricPrecision; font-size:10.8px; color-interpolation:linearRGB; color-rendering:optimizeQuality; image-rendering:optimizeQuality;"
+    ><text x="0" xml:space="preserve" y="4" style="stroke:none;"
+      >Sortie simuléee avec Loewner</text
+    ></g
+    ><g style="stroke-linecap:butt; fill:rgb(126,47,142); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; stroke-linejoin:round; stroke:rgb(126,47,142); color-interpolation:linearRGB; stroke-width:0.6667;"
+    ><line y2="267.9268" style="fill:none;" x1="264" x2="304" y1="267.9268"
+      /><path d="M260 277 L260 215 L511 215 L511 277 Z" style="fill:none; fill-rule:evenodd; stroke:rgb(38,38,38); stroke-linejoin:miter;"
+    /></g
+  ></g
+></svg
+>
diff --git a/presentation/Illustrations/multisine1.svg b/presentation/Illustrations/multisine1.svg
new file mode 100755
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diff --git a/presentation/Illustrations/multisine2.svg b/presentation/Illustrations/multisine2.svg
new file mode 100755
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+      /><line y2="323.11" style="fill:none;" x1="158.7413" x2="158.7413" y1="321"
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+      /><line y2="323.11" style="fill:none;" x1="180.276" x2="180.276" y1="321"
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+      /><line y2="323.11" style="fill:none;" x1="190.5" x2="190.5" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="222.2587" x2="222.2587" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="240.8363" x2="240.8363" y1="321"
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+      /><line y2="323.11" style="fill:none;" x1="264.2413" x2="264.2413" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="272.595" x2="272.595" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="279.6578" x2="279.6578" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="285.776" x2="285.776" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="291.1726" x2="291.1726" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="296" x2="296" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="327.7587" x2="327.7587" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="346.3363" x2="346.3363" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="359.5173" x2="359.5173" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="369.7413" x2="369.7413" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="378.095" x2="378.095" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="385.1578" x2="385.1578" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="391.276" x2="391.276" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="396.6726" x2="396.6726" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="401.5" x2="401.5" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="433.2587" x2="433.2587" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="451.8363" x2="451.8363" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="465.0173" x2="465.0173" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="475.2413" x2="475.2413" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="483.595" x2="483.595" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="490.6578" x2="490.6578" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="496.776" x2="496.776" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="502.1726" x2="502.1726" y1="321"
+      /><line y2="323.11" style="fill:none;" x1="507" x2="507" y1="321"
+    /></g
+    ><g transform="translate(72,396)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >10</text
+    ></g
+    ><g transform="translate(87,390)" style="font-size:10.6667px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >-2</text
+    ></g
+    ><g transform="translate(178,396)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >10</text
+    ></g
+    ><g transform="translate(193,390)" style="font-size:10.6667px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >-1</text
+    ></g
+    ><g transform="translate(285,396)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >10</text
+    ></g
+    ><g transform="translate(300,390)" style="font-size:10.6667px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >0</text
+    ></g
+    ><g transform="translate(391,396)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >10</text
+    ></g
+    ><g transform="translate(406,390)" style="font-size:10.6667px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >1</text
+    ></g
+    ><g transform="translate(496,396)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >10</text
+    ></g
+    ><g transform="translate(511,390)" style="font-size:10.6667px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="0" xml:space="preserve" y="0" style="stroke:none;"
+      >2</text
+    ></g
+    ><g style="fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; stroke-linejoin:round; stroke:rgb(102,102,102); color-interpolation:linearRGB; stroke-width:0.6667;"
+    ><line y2="321" style="fill:none;" x1="85" x2="85" y1="374"
+      /><line y2="321" style="fill:none;" x1="507" x2="507" y1="374"
+      /><line y2="373.4804" style="fill:none;" x1="85" x2="89.22" y1="373.4804"
+      /><line y2="347.5" style="fill:none;" x1="85" x2="89.22" y1="347.5"
+      /><line y2="321.5196" style="fill:none;" x1="85" x2="89.22" y1="321.5196"
+      /><line y2="373.4804" style="fill:none;" x1="507" x2="502.78" y1="373.4804"
+      /><line y2="347.5" style="fill:none;" x1="507" x2="502.78" y1="347.5"
+      /><line y2="321.5196" style="fill:none;" x1="507" x2="502.78" y1="321.5196"
+    /></g
+    ><g transform="translate(79.6667,373.4804)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-8" xml:space="preserve" y="5.5" style="stroke:none;"
+      >0</text
+    ></g
+    ><g transform="translate(79.6667,347.5)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-15" xml:space="preserve" y="5.5" style="stroke:none;"
+      >30</text
+    ></g
+    ><g transform="translate(79.6667,321.5196)" style="font-size:13.3333px; fill:rgb(102,102,102); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; stroke:rgb(102,102,102); color-interpolation:linearRGB;"
+    ><text x="-15" xml:space="preserve" y="5.5" style="stroke:none;"
+      >60</text
+    ></g
+    ><g transform="translate(60.6667,347.5) rotate(-90)" style="font-size:14.6667px; text-rendering:geometricPrecision; color-rendering:optimizeQuality; image-rendering:optimizeQuality; font-family:'SansSerif'; color-interpolation:linearRGB;"
+    ><text x="-40" xml:space="preserve" y="-4" style="stroke:none;"
+      >Phase (deg)</text
+    ></g
+    ><g style="stroke-linecap:butt; fill:rgb(0,114,189); text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; stroke-linejoin:round; stroke:rgb(0,114,189); color-interpolation:linearRGB; stroke-width:0.6667;"
+    ><path d="M84.9497 372.4964 L87.7713 372.4369 L94.9095 372.2611 L102.0477 372.0556 L109.1859 371.8157 L116.3241 371.5354 L123.4622 371.2081 L130.6004 370.8259 L137.7386 370.3799 L144.8768 369.8596 L152.015 369.2529 L159.1532 368.5462 L166.2914 367.7238 L173.4296 366.7684 L180.5678 365.6607 L187.706 364.3799 L194.8442 362.9047 L201.9824 361.214 L209.1206 359.289 L216.2588 357.1163 L223.397 354.6914 L230.5352 352.0233 L237.6734 349.1392 L244.8116 346.0884 L251.9498 342.9436 L259.088 339.7975 L266.2261 336.7563 L273.3643 333.9296 L280.5025 331.42 L287.6407 329.3146 L294.7789 327.6813 L301.9171 326.568 L309.0553 326.0043 L312.6244 325.9335 L316.1935 326.0043 L323.3317 326.568 L330.4699 327.6813 L337.6081 329.3146 L344.7463 331.42 L351.8845 333.9296 L359.0227 336.7563 L366.1609 339.7975 L373.299 342.9436 L380.4373 346.0884 L387.5755 349.1392 L394.7137 352.0233 L401.8518 354.6914 L408.99 357.1163 L416.1282 359.289 L423.2664 361.214 L430.4046 362.9047 L437.5428 364.3799 L444.681 365.6607 L451.8192 366.7684 L458.9574 367.7238 L466.0956 368.5462 L473.2338 369.2529 L480.372 369.8596 L487.5102 370.3799 L494.6484 370.8259 L501.7866 371.2081 L507.0503 371.4495" style="fill:none; fill-rule:evenodd;"
+    /></g
+    ><g transform="translate(295,243.7116)" style="font-size:14.6667px; text-rendering:geometricPrecision; image-rendering:optimizeQuality; color-rendering:optimizeQuality; font-family:'SansSerif'; color-interpolation:linearRGB; font-weight:bold;"
+    ><text x="-50" xml:space="preserve" y="-4" style="stroke:none;"
+      >Bode Diagram</text
+    ></g
+    ><g transform="translate(295,398.6667)" style="font-size:14.6667px; text-rendering:geometricPrecision; color-rendering:optimizeQuality; image-rendering:optimizeQuality; font-family:'SansSerif'; color-interpolation:linearRGB;"
+    ><text x="-60" xml:space="preserve" y="15" style="stroke:none;"
+      >Frequency  (rad/s)</text
+    ></g
+  ></g
+></svg
+>