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- draw[->] (x) -- (sum6);
- draw[->] (sum6) -- (K0);
- draw[->] (dot5) -- (Kp);
- draw[->] (dot5) |- (Ki);
- draw[->] (Kp) -- (sum7);
- draw[->] (Ki) -- (int3);
- draw[->] (int3) -- (dot4) -- (sum7);
- draw[->] (sum7) -- (int2);
- draw[->] (int2) -- (sum6);
- draw[->] (dot4) -- (w_e);
- draw[-] (K0) -| ++(12mm,-12mm) -| (dot5);
- draw[arrowcontext]
- (x) --> (sum6) --> (K0) -| ++(12mm,-12mm) -| (dot5)
- --> (Kp) --> (sum7) --> (int2) --> (sum6)
- (dot5) |-> (Ki) --> (int3) -- (dot4) --> (sum7)
- (dot4) --> (w_e);
- documentclass[border=6mm]{standalone}
- usepackage{tikz}
- usepackage{nccmath}
- usetikzlibrary{shapes,shadows,arrows,positioning,calc}
- begin{document}
- begin{tikzpicture}[node distance=5mm, auto,
- blockcolors/.style={
- % The rest
- thick,draw=black,
- top color=white,
- bottom color=black!10,
- font=sffamilysmall
- },
- blockheight/.style = {
- minimum height=10mm
- },
- block/.style={
- % The shape:
- rectangle, minimum size=6mm, minimum width=12mm,
- blockheight,
- node distance=5mm,
- blockcolors,
- drop shadow
- },
- phantom/.style={
- },
- open circle/.style={
- circle, inner sep=0pt,
- thick,draw=black,
- fill = white,
- },
- input/.style={open circle, minimum size=2mm, node distance=8mm, fill=green!70!black},
- output/.style={input},
- junction/.style={open circle, minimum size=0.5mm,fill=black, node distance=5mm},
- sum/.style={open circle, minimum size=4mm, node distance=8mm},
- gain/.style={
- draw,
- shape border rotate=-90,
- inner sep=0.5mm,
- regular polygon,
- regular polygon sides=3,
- blockcolors, drop shadow
- },
- every label/.style={
- font=sffamilyscriptsize
- },
- >=latex
- ]
- defNEAR{4.0mm of }
- node (x) [input, label={[font=normalsize]$x$}] {};
- node (sum6) [sum, below=of x] {};
- node (K0) [gain, inner sep=0mm, right=6mm of sum6]{$K_0$};
- node (int2) [block, left=7mm of sum6]{$medintint dt$};
- node (sum7) [sum, left=NEAR int2] {};
- node (dot4) [junction] at (x -| sum7){};
- node (int3) [block, left=of dot4]{$medintint dt$};
- node (Ki) [gain, left=of int3, inner sep=-0.4mm] {$K_I$};
- node (Kp) [gain, inner sep=-0.65mm] at (Ki |- sum7){$K_P$};
- node (dot5) [junction, left=of Kp]{};
- node (w_e) [output, right=of dot4, label={[font=normalsize]above:$hat{omega}_e$}]{};
- draw[->] (x) -- (sum6);
- draw[->] (sum6) -- (K0);
- draw[->] (dot5) -- (Kp);
- draw[->] (dot5) |- (Ki);
- draw[->] (Kp) -- (sum7);
- draw[->] (Ki) -- (int3);
- draw[->] (int3) -- (dot4) -- (sum7);
- draw[->] (sum7) -- (int2);
- draw[->] (int2) -- (sum6);
- draw[->] (dot4) -- (w_e);
- draw[-] (K0) -| ++(12mm,-12mm) -| (dot5);
- end{tikzpicture}
- end{document}
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