diff --git a/Autom/Autom.m b/Autom/Autom.m
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+% Paramètres physiques
+m_r = 20;        % masse remorque [kg]
+k = 5000;         % raideur bras [N/m]
+c = 1000;         % amortissement bras [N.s/m]
+f_v = 50;         % frottement visqueux [N.s/m]
+delta_0 = 2;      % longueur repos [m]
+
+% Gains PID
+K_p = 1000;
+K_d = 500;
+K_i = 100;
\ No newline at end of file
diff --git a/Autom/Autom.slx b/Autom/Autom.slx
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