function dy = foncPendule(t,y)
global k l m M g A w
dy=zeros(4,1);
dy(1) = y(2); % \dot{x}
dy(3) = y(4); % \dot{\theta}
% \ddot{x} :
dy(2) = (m*g*cos(y(3))*sin(y(3)) + m*l*sin(y(3))*y(4)^2 - k*(y(1)) - A*w*w*sin(w*t)) / (M+m*sin(y(3))^2);
% \ddot{\theta} :
dy(4) = (-g*sin(y(3)))/l - (cos(y(3))*(m*g*cos(y(3))*sin(y(3)) + m*l*sin(y(3))*y(4)^2 - k*y(1) - A*w*w*sin(w*t))) / (M*l + m*l*sin(y(3))^2);