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%%% Sous-Programme calcul_pi.m %%%
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function K_PI=calcul_PI(gain_K_PI,phase_K_PI,wc)

phi_i=-phase_K_PI;
w0=wc;
tau_i=1/(w0*tan(phi_i));
k_i=gain_K_PI*tau_i*w0/sqrt(1+tau_i^2*w0^2);
num_PI=k_i*[tau_i 1];
den_PI=[tau_i 0];
K_PI=tf(num_PI,den_PI);