% Graphic for TeX using PGF % Title: /home/adnr/Disk/Opo/PASCASARJANA/RESEARCH/[T01][FormationControl]/[DOC]/-p-formation-control/BAB4/img/implement-control.dia % Creator: Dia v0.97.3 % CreationDate: Wed Jan 29 15:54:13 2020 % For: adnr % \usepackage{tikz} % The following commands are not supported in PSTricks at present % We define them conditionally, so when they are implemented, % this pgf file will use them. \ifx\du\undefined \newlength{\du} \fi \setlength{\du}{15\unitlength} \begin{tikzpicture} \pgftransformxscale{1.000000} \pgftransformyscale{-1.000000} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (19.410000\du,19.110810\du)--(19.410000\du,27.748813\du)--(41.460000\du,27.748813\du)--(41.460000\du,19.110810\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{{1.000000\du}{1.000000\du}}{0\du} \pgfsetdash{{0.300000\du}{0.300000\du}}{0\du} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (19.410000\du,19.110810\du)--(19.410000\du,27.748813\du)--(41.460000\du,27.748813\du)--(41.460000\du,19.110810\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (30.435000\du,23.624811\du){}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (19.400000\du,8.850000\du)--(19.400000\du,18.800000\du)--(41.450000\du,18.800000\du)--(41.450000\du,8.850000\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{{\pgflinewidth}{0.060000\du}}{0cm} \pgfsetdash{{\pgflinewidth}{0.200000\du}}{0cm} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (19.400000\du,8.850000\du)--(19.400000\du,18.800000\du)--(41.450000\du,18.800000\du)--(41.450000\du,8.850000\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (30.425000\du,14.020000\du){}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (25.876400\du,12.379600\du)--(25.876400\du,14.279600\du)--(27.891400\du,14.279600\du)--(27.891400\du,12.379600\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (25.876400\du,12.379600\du)--(25.876400\du,14.279600\du)--(27.891400\du,14.279600\du)--(27.891400\du,12.379600\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (26.883900\du,13.447100\du){$B_r$}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (32.236200\du,15.280900\du)--(32.236200\du,17.180900\du)--(34.278700\du,17.180900\du)--(34.278700\du,15.280900\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (32.236200\du,15.280900\du)--(32.236200\du,17.180900\du)--(34.278700\du,17.180900\du)--(34.278700\du,15.280900\du)--cycle; 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% setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (26.973800\du,17.676000\du){-K\_s}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (19.894190\du,12.392600\du)--(19.894190\du,14.292600\du)--(21.894190\du,14.292600\du)--(21.894190\du,12.392600\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (19.894190\du,12.392600\du)--(19.894190\du,14.292600\du)--(21.894190\du,14.292600\du)--(21.894190\du,12.392600\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (20.894190\du,13.460100\du){N}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (38.880900\du,12.467200\du)--(38.880900\du,14.367200\du)--(40.905900\du,14.367200\du)--(40.905900\du,12.467200\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (38.880900\du,12.467200\du)--(38.880900\du,14.367200\du)--(40.905900\du,14.367200\du)--(40.905900\du,12.467200\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (39.893400\du,13.534700\du){$C_r$}; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (36.048189\du,13.346817\du)--(38.830664\du,13.397748\du); } \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetbuttcap \pgfsetmiterjoin \pgfsetlinewidth{0.100000\du} \pgfsetbuttcap \pgfsetmiterjoin \pgfsetdash{}{0pt} \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \pgfpathellipse{\pgfpoint{30.696915\du}{13.318715\du}}{\pgfpoint{0.481715\du}{0\du}}{\pgfpoint{0\du}{0.481715\du}} \pgfusepath{fill} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \pgfpathellipse{\pgfpoint{30.696915\du}{13.318715\du}}{\pgfpoint{0.481715\du}{0\du}}{\pgfpoint{0\du}{0.481715\du}} \pgfusepath{stroke} \pgfsetbuttcap \pgfsetmiterjoin \pgfsetdash{}{0pt} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (30.356291\du,12.978091\du)--(30.696915\du,13.318715\du)--(30.356291\du,13.659341\du); 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}} \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (27.933969\du,13.326602\du)--(30.166295\du,13.320230\du); } \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (30.739233\du,11.223482\du)--(30.707167\du,12.811146\du); } \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (31.228812\du,13.319814\du)--(33.952358\du,13.325440\du); } \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (35.480900\du,9.289040\du)--(35.480900\du,11.189040\du)--(38.095900\du,11.189040\du)--(38.095900\du,9.289040\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (35.480900\du,9.289040\du)--(35.480900\du,11.189040\du)--(38.095900\du,11.189040\du)--(38.095900\du,9.289040\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (36.788400\du,10.356540\du){sgn}; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (36.975681\du,13.363794\du)--(36.967800\du,16.267400\du)--(34.328614\du,16.241437\du); }} \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetbuttcap \pgfsetmiterjoin \pgfsetlinewidth{0.100000\du} \pgfsetbuttcap \pgfsetmiterjoin \pgfsetdash{}{0pt} \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \pgfpathellipse{\pgfpoint{23.919915\du}{13.326815\du}}{\pgfpoint{0.481715\du}{0\du}}{\pgfpoint{0\du}{0.481715\du}} \pgfusepath{fill} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \pgfpathellipse{\pgfpoint{23.919915\du}{13.326815\du}}{\pgfpoint{0.481715\du}{0\du}}{\pgfpoint{0\du}{0.481715\du}} \pgfusepath{stroke} \pgfsetbuttcap \pgfsetmiterjoin \pgfsetdash{}{0pt} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (23.579291\du,12.986191\du)--(23.919915\du,13.326815\du)--(23.579291\du,13.667441\du); \pgfsetlinewidth{0.000100\du} \pgfsetbuttcap \pgfsetmiterjoin \pgfsetdash{}{0pt} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} \pgfpathmoveto{\pgfpoint{24.260541\du}{12.986191\du}} \pgfpathcurveto{\pgfpoint{24.260541\du}{12.986191\du}}{\pgfpoint{24.401630\du}{13.110996\du}}{\pgfpoint{24.401630\du}{13.326815\du}} \pgfpathcurveto{\pgfpoint{24.401630\du}{13.542633\du}}{\pgfpoint{24.260541\du}{13.667441\du}}{\pgfpoint{24.260541\du}{13.667441\du}} \pgfpathlineto{\pgfpoint{23.919915\du}{13.326815\du}} \pgfpathlineto{\pgfpoint{24.260541\du}{12.986191\du}} \pgfusepath{fill} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \pgfpathmoveto{\pgfpoint{24.260541\du}{12.986191\du}} \pgfpathcurveto{\pgfpoint{24.260541\du}{12.986191\du}}{\pgfpoint{24.401630\du}{13.110996\du}}{\pgfpoint{24.401630\du}{13.326815\du}} \pgfpathcurveto{\pgfpoint{24.401630\du}{13.542633\du}}{\pgfpoint{24.260541\du}{13.667441\du}}{\pgfpoint{24.260541\du}{13.667441\du}} \pgfpathlineto{\pgfpoint{23.919915\du}{13.326815\du}} \pgfpathlineto{\pgfpoint{24.260541\du}{12.986191\du}} \pgfusepath{stroke} \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (24.401630\du,13.326815\du)--(25.826390\du,13.328414\du); } \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (21.943843\du,13.336087\du)--(23.438200\du,13.326815\du); } \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (25.789042\du,17.552258\du)--(23.917900\du,17.542400\du)--(23.919661\du,13.858395\du); }} \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (36.975681\du,13.363794\du)--(36.967800\du,17.567400\du)--(28.160831\du,17.559557\du); }} \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (29.759400\du,9.274960\du)--(29.759400\du,11.174960\du)--(31.759400\du,11.174960\du)--(31.759400\du,9.274960\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (29.759400\du,9.274960\du)--(29.759400\du,11.174960\du)--(31.759400\du,11.174960\du)--(31.759400\du,9.274960\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (30.759400\du,10.342460\du){K}; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (35.430918\du,10.235870\du)--(31.808882\du,10.227411\du); } % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (24.648400\du,12.815600\du){u}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (28.992800\du,12.572400\du){}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (25.596800\du,13.276000\du){}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (36.846700\du,12.903100\du){$x_r$}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (40.242800\du,15.017400\du){$y_r$}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (33.998300\du,12.377600\du)--(33.998300\du,14.277600\du)--(35.998300\du,14.277600\du)--(35.998300\du,12.377600\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (33.998300\du,12.377600\du)--(33.998300\du,14.277600\du)--(35.998300\du,14.277600\du)--(35.998300\du,12.377600\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (34.998300\du,13.445100\du){$\int$}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (31.873600\du,12.915500\du){$\dot{x}_r$}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (25.949900\du,25.438000\du)--(25.949900\du,27.338000\du)--(27.952400\du,27.338000\du)--(27.952400\du,25.438000\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (25.949900\du,25.438000\du)--(25.949900\du,27.338000\du)--(27.952400\du,27.338000\du)--(27.952400\du,25.438000\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (26.951150\du,26.505500\du){$A_f$}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (27.328000\du,23.506200\du){}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (27.328000\du,23.506200\du){}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (31.262000\du,22.449300\du)--(31.262000\du,24.349300\du)--(33.262000\du,24.349300\du)--(33.262000\du,22.449300\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (31.262000\du,22.449300\du)--(31.262000\du,24.349300\du)--(33.262000\du,24.349300\du)--(33.262000\du,22.449300\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (32.262000\du,23.516800\du){$C_f$}; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (29.741750\du,23.459587\du)--(31.212150\du,23.424413\du); } \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetbuttcap \pgfsetmiterjoin \pgfsetlinewidth{0.100000\du} \pgfsetbuttcap \pgfsetmiterjoin \pgfsetdash{}{0pt} \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \pgfpathellipse{\pgfpoint{24.390515\du}{23.475815\du}}{\pgfpoint{0.481715\du}{0\du}}{\pgfpoint{0\du}{0.481715\du}} \pgfusepath{fill} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \pgfpathellipse{\pgfpoint{24.390515\du}{23.475815\du}}{\pgfpoint{0.481715\du}{0\du}}{\pgfpoint{0\du}{0.481715\du}} \pgfusepath{stroke} \pgfsetbuttcap \pgfsetmiterjoin \pgfsetdash{}{0pt} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (24.049891\du,23.135191\du)--(24.390515\du,23.475815\du)--(24.049891\du,23.816441\du); \pgfsetlinewidth{0.000100\du} \pgfsetbuttcap \pgfsetmiterjoin \pgfsetdash{}{0pt} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} \pgfpathmoveto{\pgfpoint{24.731141\du}{23.135191\du}} \pgfpathcurveto{\pgfpoint{24.731141\du}{23.135191\du}}{\pgfpoint{24.872230\du}{23.259996\du}}{\pgfpoint{24.872230\du}{23.475815\du}} \pgfpathcurveto{\pgfpoint{24.872230\du}{23.691633\du}}{\pgfpoint{24.731141\du}{23.816441\du}}{\pgfpoint{24.731141\du}{23.816441\du}} \pgfpathlineto{\pgfpoint{24.390515\du}{23.475815\du}} \pgfpathlineto{\pgfpoint{24.731141\du}{23.135191\du}} \pgfusepath{fill} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \pgfpathmoveto{\pgfpoint{24.731141\du}{23.135191\du}} \pgfpathcurveto{\pgfpoint{24.731141\du}{23.135191\du}}{\pgfpoint{24.872230\du}{23.259996\du}}{\pgfpoint{24.872230\du}{23.475815\du}} \pgfpathcurveto{\pgfpoint{24.872230\du}{23.691633\du}}{\pgfpoint{24.731141\du}{23.816441\du}}{\pgfpoint{24.731141\du}{23.816441\du}} \pgfpathlineto{\pgfpoint{24.390515\du}{23.475815\du}} \pgfpathlineto{\pgfpoint{24.731141\du}{23.135191\du}} \pgfusepath{stroke} \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (25.904059\du,26.388082\du)--(24.386100\du,26.388200\du)--(24.389699\du,24.006314\du); }} \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (21.979920\du,23.467567\du)--(23.908800\du,23.475900\du); } \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (24.922412\du,23.476914\du)--(27.645958\du,23.482540\du); } % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (37.967800\du,26.142400\du){x}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (31.717800\du,21.917400\du){y}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (27.691900\du,22.534700\du)--(27.691900\du,24.434700\du)--(29.691900\du,24.434700\du)--(29.691900\du,22.534700\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (27.691900\du,22.534700\du)--(27.691900\du,24.434700\du)--(29.691900\du,24.434700\du)--(29.691900\du,22.534700\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (28.691900\du,23.602200\du){$\int$}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (25.567200\du,23.072600\du){$\dot{x}$}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (19.915400\du,22.513000\du)--(19.915400\du,24.413000\du)--(21.930400\du,24.413000\du)--(21.930400\du,22.513000\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (19.915400\du,22.513000\du)--(19.915400\du,24.413000\du)--(21.930400\du,24.413000\du)--(21.930400\du,22.513000\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (20.922900\du,23.580500\du){$B_f$}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (38.702800\du,25.442400\du)--(38.702800\du,27.342400\du)--(41.217800\du,27.342400\du)--(41.217800\du,25.442400\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (38.702800\du,25.442400\du)--(38.702800\du,27.342400\du)--(41.217800\du,27.342400\du)--(41.217800\du,25.442400\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (39.960300\du,26.587400\du){Algo}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (39.492800\du,15.142400\du){}; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (32.263473\du,22.413661\du)--(32.267800\du,19.517400\du)--(20.892900\du,19.517400\du)--(20.893982\du,14.337563\du); }} \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (38.652948\du,26.391958\du)--(28.002778\du,26.388356\du); }} \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (34.300300\du,20.292400\du)--(34.300300\du,22.192400\du)--(37.810300\du,22.192400\du)--(37.810300\du,20.292400\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (34.300300\du,20.292400\du)--(34.300300\du,22.192400\du)--(37.810300\du,22.192400\du)--(37.810300\du,20.292400\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (36.055300\du,21.437400\du){Sensor}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (33.824100\du,19.881200\du)--(33.824100\du,21.781200\du)--(37.334100\du,21.781200\du)--(37.334100\du,19.881200\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (33.824100\du,19.881200\du)--(33.824100\du,21.781200\du)--(37.334100\du,21.781200\du)--(37.334100\du,19.881200\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (35.579100\du,21.026200\du){Sensor}; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (39.898555\du,14.417028\du)--(39.955145\du,25.392572\du); }} \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (36.812275\du,22.240715\du)--(39.203325\du,25.394085\du); } % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (36.592800\du,23.467400\du){}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (37.940300\du,23.062400\du){$y_{rji}$}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (23.390400\du,20.019900\du)--(23.390400\du,21.919900\du)--(25.405400\du,21.919900\du)--(25.405400\du,20.019900\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (23.390400\du,20.019900\du)--(23.390400\du,21.919900\du)--(25.405400\du,21.919900\du)--(25.405400\du,20.019900\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (24.397900\du,21.087400\du){B}; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (24.394948\du,21.969608\du)--(24.392070\du,22.944232\du); }} \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \pgfsetarrowsend{stealth} {\pgfsetcornersarced{\pgfpoint{0.000000\du}{0.000000\du}}\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (21.517900\du,20.992400\du)--(23.340048\du,20.978164\du); }} % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (19.865400\du,21.112400\du){$v_{ref}$}; \pgfsetlinewidth{0.100000\du} \pgfsetdash{{\pgflinewidth}{0.200000\du}}{0cm} \pgfsetdash{{\pgflinewidth}{0.200000\du}}{0cm} \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (34.335007\du,28.700177\du)--(36.891799\du,28.700177\du); } % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (37.070180\du,28.878558\du){Tingkat Akhir}; \pgfsetlinewidth{0.100000\du} \pgfsetdash{{1.000000\du}{1.000000\du}}{0\du} \pgfsetdash{{0.300000\du}{0.300000\du}}{0\du} \pgfsetbuttcap { \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} % was here!!! \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (34.307709\du,29.642081\du)--(36.864500\du,29.642081\du); } % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (37.105856\du,29.800192\du){Tingkat Awal}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (38.972908\du,29.711001\du){}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (39.062099\du,29.681271\du){}; \end{tikzpicture}