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38 lines
1.5 KiB
38 lines
1.5 KiB
\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}
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