% Graphic for TeX using PGF
% Title: /home/adnr/Disk/Opo/PASCASARJANA/RESEARCH/[T01][FormationControl]/[DOC]/-p-formation-control/BAB4/img/Diagram_hil_controller.dia
% Creator: Dia v0.97.3
% CreationDate: Mon Dec 16 14:12:45 2019
% 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 (13.904617\du,3.268831\du)--(13.904617\du,8.035651\du)--(30.596370\du,8.035651\du)--(30.596370\du,3.268831\du)--cycle;
\pgfsetlinewidth{0.050000\du}
\pgfsetdash{}{0pt}
\pgfsetdash{}{0pt}
\pgfsetmiterjoin
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\draw (13.904617\du,3.268831\du)--(13.904617\du,8.035651\du)--(30.596370\du,8.035651\du)--(30.596370\du,3.268831\du)--cycle;
% setfont left to latex
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\node at (22.250493\du,5.769741\du){};
\definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
\pgfsetfillcolor{dialinecolor}
\fill (14.769125\du,4.521642\du)--(14.769125\du,6.421642\du)--(19.286625\du,6.421642\du)--(19.286625\du,4.521642\du)--cycle;
\pgfsetlinewidth{0.050000\du}
\pgfsetdash{}{0pt}
\pgfsetdash{}{0pt}
\pgfsetmiterjoin
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\draw (14.769125\du,4.521642\du)--(14.769125\du,6.421642\du)--(19.286625\du,6.421642\du)--(19.286625\du,4.521642\du)--cycle;
% setfont left to latex
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\node at (17.027875\du,5.666642\du){$Model_1$};
\definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
\pgfsetfillcolor{dialinecolor}
\fill (20.042584\du,4.524796\du)--(20.042584\du,6.424796\du)--(24.560084\du,6.424796\du)--(24.560084\du,4.524796\du)--cycle;
\pgfsetlinewidth{0.050000\du}
\pgfsetdash{}{0pt}
\pgfsetdash{}{0pt}
\pgfsetmiterjoin
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\draw (20.042584\du,4.524796\du)--(20.042584\du,6.424796\du)--(24.560084\du,6.424796\du)--(24.560084\du,4.524796\du)--cycle;
% setfont left to latex
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\node at (22.301334\du,5.669796\du){$Model_2$};
\definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
\pgfsetfillcolor{dialinecolor}
\fill (25.231953\du,4.485904\du)--(25.231953\du,6.385904\du)--(29.749453\du,6.385904\du)--(29.749453\du,4.485904\du)--cycle;
\pgfsetlinewidth{0.050000\du}
\pgfsetdash{}{0pt}
\pgfsetdash{}{0pt}
\pgfsetmiterjoin
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\draw (25.231953\du,4.485904\du)--(25.231953\du,6.385904\du)--(29.749453\du,6.385904\du)--(29.749453\du,4.485904\du)--cycle;
% setfont left to latex
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\node at (27.490703\du,5.630904\du){$Model_3$};
% setfont left to latex
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\node[anchor=west] at (29.082760\du,7.578415\du){PC};
% setfont left to latex
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\node[anchor=west] at (20.371542\du,12.191246\du){};
\definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
\pgfsetfillcolor{dialinecolor}
\fill (14.376710\du,9.025804\du)--(14.376710\du,10.925804\du)--(19.446710\du,10.925804\du)--(19.446710\du,9.025804\du)--cycle;
\pgfsetlinewidth{0.050000\du}
\pgfsetdash{}{0pt}
\pgfsetdash{}{0pt}
\pgfsetmiterjoin
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\draw (14.376710\du,9.025804\du)--(14.376710\du,10.925804\du)--(19.446710\du,10.925804\du)--(19.446710\du,9.025804\du)--cycle;
% setfont left to latex
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\node at (16.911710\du,10.093304\du){$Controller_1$};
\definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
\pgfsetfillcolor{dialinecolor}
\fill (19.764724\du,13.065250\du)--(19.764724\du,14.965250\du)--(24.834724\du,14.965250\du)--(24.834724\du,13.065250\du)--cycle;
\pgfsetlinewidth{0.050000\du}
\pgfsetdash{}{0pt}
\pgfsetdash{}{0pt}
\pgfsetmiterjoin
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\draw (19.764724\du,13.065250\du)--(19.764724\du,14.965250\du)--(24.834724\du,14.965250\du)--(24.834724\du,13.065250\du)--cycle;
% setfont left to latex
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\node at (22.299724\du,14.132750\du){$Controller_2$};
\definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000}
\pgfsetfillcolor{dialinecolor}
\fill (24.976692\du,8.990066\du)--(24.976692\du,10.890066\du)--(30.046692\du,10.890066\du)--(30.046692\du,8.990066\du)--cycle;
\pgfsetlinewidth{0.050000\du}
\pgfsetdash{}{0pt}
\pgfsetdash{}{0pt}
\pgfsetmiterjoin
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\draw (24.976692\du,8.990066\du)--(24.976692\du,10.890066\du)--(30.046692\du,10.890066\du)--(30.046692\du,8.990066\du)--cycle;
% setfont left to latex
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\node at (27.511692\du,10.057566\du){$Controller_3$};
\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!!!
\pgfsetarrowsstart{stealth}
\pgfsetarrowsend{stealth}
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\draw (16.936852\du,9.000965\du)--(17.002733\du,6.446481\du);
}
\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!!!
\pgfsetarrowsstart{stealth}
\pgfsetarrowsend{stealth}
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\draw (27.507150\du,8.965227\du)--(27.495246\du,6.410743\du);
}
\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!!!
\pgfsetarrowsstart{stealth}
\pgfsetarrowsend{stealth}
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\draw (22.299907\du,13.043607\du)--(22.301151\du,6.446439\du);
}
\pgfsetlinewidth{0.100000\du}
\pgfsetdash{}{0pt}
\pgfsetdash{}{0pt}
\pgfsetbuttcap
{
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetfillcolor{dialinecolor}
% was here!!!
\pgfsetarrowsstart{stealth}
\pgfsetarrowsend{stealth}
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\draw (18.212016\du,10.950656\du)--(20.999418\du,13.040399\du);
}
\pgfsetlinewidth{0.100000\du}
\pgfsetdash{}{0pt}
\pgfsetdash{}{0pt}
\pgfsetbuttcap
{
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetfillcolor{dialinecolor}
% was here!!!
\pgfsetarrowsstart{stealth}
\pgfsetarrowsend{stealth}
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\draw (26.267233\du,10.913096\du)--(23.544183\du,13.042220\du);
}
\pgfsetlinewidth{0.100000\du}
\pgfsetdash{}{0pt}
\pgfsetdash{}{0pt}
\pgfsetbuttcap
{
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetfillcolor{dialinecolor}
% was here!!!
\pgfsetarrowsstart{stealth}
\pgfsetarrowsend{stealth}
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\draw (19.471777\du,9.967173\du)--(24.951626\du,9.948697\du);
}
% setfont left to latex
\definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000}
\pgfsetstrokecolor{dialinecolor}
\node[anchor=west] at (22.301334\du,5.474796\du){};
\end{tikzpicture}