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%%% Sous-Programme placement_poles_rebi.m %%%
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function Pbf=placement_poles_rebi(vitesse,dzeta,A,n)

z=dzeta;
w=vitesse;
matrice_A=A;
valeur_n=n;

%% Calcul des pôles du système initial
Pbo=eig(matrice_A);

% Placement des pôles vis-à-vis de la rapidité
for i=1:valeur_n
    if real(Pbo(i))<w
        Pbf(i)=Pbo(i);
    else
        if real(Pbo(i))<-w
            Pbf(i)=w+j*imag(Pbo(i));
        else
            Pbf(i)=-real(Pbo(i))+j*imag(Pbo(i));
        end
    end
end
% Placement des pôles vis-à-vis de l'amortissement
for i=1:valeur_n
    if real(Pbf(i))+z*sqrt(real(Pbf(i))^2+imag(Pbf(i))^2)>0
        Pbf(i)=-abs(imag(Pbf(i)))*z/sqrt(1-z^2)+j*imag(Pbf(i));
    else
        Pbf(i)=Pbf(i);
    end
end
% Pôle en BF lié au déplacement de s=0
Pbf(valeur_n+1)=w;