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