function [Vref,ws,x,werr] = V_f_controleur(Vb,wr_ref,wr,x_old,werr_old)

global dt wb

Ki = 5.6;     Kp = 0.6;


wr_ref = wr_ref/wb;
wr = wr/wb;
werr_old = werr_old/wb;



werr = wr_ref - wr;


x = x_old + dt/2*Ki*( werr_old + werr );

% Bloc de saturation pour x
if x > 0.03
    x = 0.03;
elseif x < -0.03
    x = -0.03;
end


y = Kp*werr + x;

% Bloc de saturation pour y
if y > 0.03
    y = 0.03;
elseif y < -0.03
    y = -0.03;
end

delta = y + wr;


ws = delta * wb;



% Bloc de saturation pour delta
if delta > 1
    delta = 1;
elseif delta < -1
    delta = -1;
end

Vref = delta * Vb;