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diff --git a/424-Systeme_Non_Lineaires/Cours/chap7.tex b/424-Systeme_Non_Lineaires/Cours/chap7.tex
index 3179350..252ec96 100644
--- a/424-Systeme_Non_Lineaires/Cours/chap7.tex
+++ b/424-Systeme_Non_Lineaires/Cours/chap7.tex
@@ -11,11 +11,22 @@ Dans la suite du chapitre on étudiera le modèle suivant : Affine en la command
 \section{Commande par bouclage linéarisant}
 \begin{figure}[H]
   \centering
-  \includegraphics[width=0.7\textwidth]{5/1.png}
+  \begin{tikzpicture}
+    \node[draw, minimum height=1cm] (C) at (0,0) {
+      \begin{tabular}{c}
+Commande\\ Linéarisée
+      \end{tabular}};
+    \node[draw, minimum height=1cm] (S) at (5,0) {
+      \begin{tabular}{c}
+Système\\ NL
+      \end{tabular}};
+    \draw[-latex] (-2,0) -- (C.west) node[near start,above]{$v$};
+    \draw[-latex] (C.east) -- (S.west) node[near start, above]{$u$};
+    \draw[-latex] (S.east) --  ++(2,0) node[above left]{$y$};
+    \draw[-latex] (S.south) |- ++(-2,-1) node[near start,right]{$x$} -| (C.south);
+  \end{tikzpicture}
   \caption{Principe du bouclage linéarisant}
 \end{figure}
-% \img{0.5}{5/1} A rajouter !
-Figure a rajouter
 \subsection{Linéarisation entrées-sorties}
 On se place dans le cas SISO: $u\in \R$ et $y\in\R$
 
@@ -95,7 +106,29 @@ Qui nécessite le changement de base des variables d'états :
 
 \begin{figure}[H]
   \centering
-  \includegraphics[width=0.7\textwidth]{5/2.png}
+  \begin{tikzpicture}
+    \begin{scope}[at={(0,0)}]
+    \node[draw, minimum height=1cm] (C) at (0,0) {$\frac{v-a(z)}{b(z)}$};
+    \node[draw, minimum height=1cm] (S) at (3.5,0) {$\dot{x}=f(x)+g(x)u$};
+    \node[draw, minimum height=1cm] (N) at (7,0) {$z=\Phi(x)$};
+    \draw[-latex] (-2,0) -- (C.west) node[near start,above]{$v$};
+    \draw[-latex] (C.east) -- (S.west) node[near start, above]{$u$};
+    \draw[-latex] (S.east) -- (N.west);
+    \draw[-latex] (N.east) --  ++(1,0) node[above left]{$y$};
+    \draw[-latex] (N.south) |- ++(-2,-1) node[near start,right]{$x$} -| (C.south);
+  \end{scope}
+  \node at (3,-2.5){\Large$\Updownarrow$};
+  \begin{scope}[shift={(0,-4)}]
+    \node[draw, minimum height=1cm] (I1) at (0,0) {$\int$};
+    \node[draw, minimum height=1cm] (I2) at (2,0) {$\int$};
+    \node[draw, minimum height=1cm] (I3) at (5,0) {$\int$};
+\draw[-latex] (-2,0) -- (I1.west) node[near start, above]{$v$};
+\draw[-latex] (I1.east) -- (I2.west) node[near start, above]{$z_n$};
+\draw[-latex] (I2.east) -- ++(1,0) node[midway,above]{$z_{n-1}$};
+\draw[-latex,dashed] (I2.east)++(1,0) -- (I3.west) node[near end, above]{$z_{2}$};
+\draw[-latex] (I3.east) -- ++(2,0) node[near end, above]{$z_1=y$};
+  \end{scope}
+  \end{tikzpicture}
   \caption{Forme normale}
 \end{figure}
 
@@ -123,6 +156,7 @@ Ainsi on défini la dynamique des zéros. Le système commandé est en régime s
 \dot{v}=0  y=0 ..
 \]
 La dynamique des zéro est celle $\dot{\eta} =q(\eta,0,v)$. Puisque la commande est linéaire on aussi prendre $v=0$
+\end{rem}
 \subsection{Dynamique des zéros}
 \begin{defin}
 C'est la dynamique interne pour une sortie identiquement nulle.