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Sep 27th, 2016
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  1. draw[->] (x) -- (sum6);
  2. draw[->] (sum6) -- (K0);
  3. draw[->] (dot5) -- (Kp);
  4. draw[->] (dot5) |- (Ki);
  5. draw[->] (Kp) -- (sum7);
  6. draw[->] (Ki) -- (int3);
  7. draw[->] (int3) -- (dot4) -- (sum7);
  8. draw[->] (sum7) -- (int2);
  9. draw[->] (int2) -- (sum6);
  10. draw[->] (dot4) -- (w_e);
  11. draw[-] (K0) -| ++(12mm,-12mm) -| (dot5);
  12.  
  13. draw[arrowcontext]
  14. (x) --> (sum6) --> (K0) -| ++(12mm,-12mm) -| (dot5)
  15. --> (Kp) --> (sum7) --> (int2) --> (sum6)
  16. (dot5) |-> (Ki) --> (int3) -- (dot4) --> (sum7)
  17. (dot4) --> (w_e);
  18.  
  19. documentclass[border=6mm]{standalone}
  20. usepackage{tikz}
  21. usepackage{nccmath}
  22. usetikzlibrary{shapes,shadows,arrows,positioning,calc}
  23. begin{document}
  24. begin{tikzpicture}[node distance=5mm, auto,
  25. blockcolors/.style={
  26. % The rest
  27. thick,draw=black,
  28. top color=white,
  29. bottom color=black!10,
  30. font=sffamilysmall
  31. },
  32. blockheight/.style = {
  33. minimum height=10mm
  34. },
  35. block/.style={
  36. % The shape:
  37. rectangle, minimum size=6mm, minimum width=12mm,
  38. blockheight,
  39. node distance=5mm,
  40. blockcolors,
  41. drop shadow
  42. },
  43. phantom/.style={
  44. },
  45. open circle/.style={
  46. circle, inner sep=0pt,
  47. thick,draw=black,
  48. fill = white,
  49. },
  50. input/.style={open circle, minimum size=2mm, node distance=8mm, fill=green!70!black},
  51. output/.style={input},
  52. junction/.style={open circle, minimum size=0.5mm,fill=black, node distance=5mm},
  53. sum/.style={open circle, minimum size=4mm, node distance=8mm},
  54. gain/.style={
  55. draw,
  56. shape border rotate=-90,
  57. inner sep=0.5mm,
  58. regular polygon,
  59. regular polygon sides=3,
  60. blockcolors, drop shadow
  61. },
  62. every label/.style={
  63. font=sffamilyscriptsize
  64. },
  65. >=latex
  66. ]
  67. defNEAR{4.0mm of }
  68. node (x) [input, label={[font=normalsize]$x$}] {};
  69. node (sum6) [sum, below=of x] {};
  70. node (K0) [gain, inner sep=0mm, right=6mm of sum6]{$K_0$};
  71. node (int2) [block, left=7mm of sum6]{$medintint dt$};
  72. node (sum7) [sum, left=NEAR int2] {};
  73. node (dot4) [junction] at (x -| sum7){};
  74.  
  75. node (int3) [block, left=of dot4]{$medintint dt$};
  76. node (Ki) [gain, left=of int3, inner sep=-0.4mm] {$K_I$};
  77. node (Kp) [gain, inner sep=-0.65mm] at (Ki |- sum7){$K_P$};
  78. node (dot5) [junction, left=of Kp]{};
  79. node (w_e) [output, right=of dot4, label={[font=normalsize]above:$hat{omega}_e$}]{};
  80.  
  81. draw[->] (x) -- (sum6);
  82. draw[->] (sum6) -- (K0);
  83. draw[->] (dot5) -- (Kp);
  84. draw[->] (dot5) |- (Ki);
  85. draw[->] (Kp) -- (sum7);
  86. draw[->] (Ki) -- (int3);
  87. draw[->] (int3) -- (dot4) -- (sum7);
  88. draw[->] (sum7) -- (int2);
  89. draw[->] (int2) -- (sum6);
  90. draw[->] (dot4) -- (w_e);
  91. draw[-] (K0) -| ++(12mm,-12mm) -| (dot5);
  92.  
  93. end{tikzpicture}
  94. end{document}
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