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- \documentclass{article}
-
- \usepackage{tikz}
- \usetikzlibrary{shapes,arrows}
- \begin{document}
-
- % 1:
- \tikzstyle{block} = [draw, fill=gray!20, rectangle,
- minimum height=3em, minimum width=6em]
- \tikzstyle{sum} = [draw, fill=gray!20, circle, node distance=1cm]
- \tikzstyle{input} = [coordinate]
- \tikzstyle{output} = [coordinate]
- \tikzstyle{pinstyle} = [pin edge={to-,thin,black}]
-
- % The block diagram code is probably more verbose than necessary
- \begin{tikzpicture}[auto, node distance=2cm,>=latex']
- %2: We start by placing the blocks
- \node [input, name=input] {};
- \node [sum, right of=input] (sum) {};
- \node [block, right of=sum] (controller) {Controller};
- \node [block, right of=controller, pin={[pinstyle]above:Disturbances},
- node distance=3cm] (system) {System};
- %3: We draw an edge between the controller and system block to
- % calculate the coordinate u. We need it to place the measurement block.
- \draw [->] (controller) -- node[name=u] {$u$} (system);
- \node [output, right of=system] (output) {};
- \node [block, below of=u] (measurements) {Measurements};
-
- %4: Once the nodes are placed, connecting them is easy.
- \draw [draw,->] (input) -- node {$r$} (sum);
- \draw [->] (sum) -- node {$e$} (controller);
- \draw [->] (system) -- node [name=y] {$y$}(output);
- \draw [->] (y) |- (measurements);
- \draw [->] (measurements) -| node[pos=0.99] {$-$}
- node [near end] {$y_m$} (sum);
- \end{tikzpicture}
-
- \end{document}
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