%-----------------------------------------------------------------------------%
%                      Pont roulant                                           %
%-----------------------------------------------------------------------------%
clear,close all, clc,
Tplot=0.01;
g=9.81;
m1=200;     b=1000;   c=100;
m2=500;     h=6;
J=m2*h^2;

numH1=[0 0 1];          denH1=[m1+m2 b 0];              H1=tf(numH1,denH1);
numH2=[m2*h c];         denH2=[m1+m2 b];                H2=tf(numH2,denH2);
numH3=-[m2*h 0 0];      denH3=[J+m2*h^2 c*h m2*g*h];    H3=tf(numH3,denH3);
numH4=[m1*h b*h-c];     denH4=[m1+m2 b];                H4=tf(numH4,denH4);
Te=0.1;
H1z=c2d(H1,Te,'zoh');
H2z=c2d(H2,Te,'zoh');
H3z=c2d(H3,Te,'zoh');