% Graphic for TeX using PGF % Title: /home/adnr/Disk/Opo/PASCASARJANA/RESEARCH/[T01][FormationControl]/[DOC]/-p-formation-control/BAB4/img/statefeedback.dia % Creator: Dia v0.97.3 % CreationDate: Wed Nov 20 19:18:20 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 (25.933938\du,13.079601\du)--(25.933938\du,14.979601\du)--(27.933938\du,14.979601\du)--(27.933938\du,13.079601\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (25.933938\du,13.079601\du)--(25.933938\du,14.979601\du)--(27.933938\du,14.979601\du)--(27.933938\du,13.079601\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (26.933938\du,14.147101\du){B}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (32.307505\du,15.980854\du)--(32.307505\du,17.880854\du)--(34.307505\du,17.880854\du)--(34.307505\du,15.980854\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (32.307505\du,15.980854\du)--(32.307505\du,17.880854\du)--(34.307505\du,17.880854\du)--(34.307505\du,15.980854\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (33.307505\du,17.048354\du){A}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (33.684415\du,14.049135\du){}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (33.684415\du,14.049135\du){}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (25.861280\du,18.033522\du)--(25.861280\du,19.933522\du)--(28.136280\du,19.933522\du)--(28.136280\du,18.033522\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (25.861280\du,18.033522\du)--(25.861280\du,19.933522\du)--(28.136280\du,19.933522\du)--(28.136280\du,18.033522\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (26.998780\du,19.101022\du){$-K_s$}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (19.855010\du,13.092569\du)--(19.855010\du,14.992569\du)--(21.855010\du,14.992569\du)--(21.855010\du,13.092569\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (19.855010\du,13.092569\du)--(19.855010\du,14.992569\du)--(21.855010\du,14.992569\du)--(21.855010\du,13.092569\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (20.855010\du,14.160069\du){N}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (39.243408\du,13.117161\du)--(39.243408\du,15.017161\du)--(41.243408\du,15.017161\du)--(41.243408\du,13.117161\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (39.243408\du,13.117161\du)--(39.243408\du,15.017161\du)--(41.243408\du,15.017161\du)--(41.243408\du,13.117161\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (40.243408\du,14.184661\du){C}; \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 (36.095981\du,14.035578\du)--(39.195771\du,14.059183\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{30.746893\du}{14.018707\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{30.746893\du}{14.018707\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 (30.406269\du,13.678083\du)--(30.746893\du,14.018707\du)--(30.406269\du,14.359333\du); \pgfsetlinewidth{0.000100\du} \pgfsetbuttcap \pgfsetmiterjoin \pgfsetdash{}{0pt} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} \pgfpathmoveto{\pgfpoint{31.087519\du}{13.678083\du}} \pgfpathcurveto{\pgfpoint{31.087519\du}{13.678083\du}}{\pgfpoint{31.228608\du}{13.802888\du}}{\pgfpoint{31.228608\du}{14.018707\du}} \pgfpathcurveto{\pgfpoint{31.228608\du}{14.234525\du}}{\pgfpoint{31.087519\du}{14.359333\du}}{\pgfpoint{31.087519\du}{14.359333\du}} \pgfpathlineto{\pgfpoint{30.746893\du}{14.018707\du}} \pgfpathlineto{\pgfpoint{31.087519\du}{13.678083\du}} \pgfusepath{fill} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \pgfpathmoveto{\pgfpoint{31.087519\du}{13.678083\du}} \pgfpathcurveto{\pgfpoint{31.087519\du}{13.678083\du}}{\pgfpoint{31.228608\du}{13.802888\du}}{\pgfpoint{31.228608\du}{14.018707\du}} \pgfpathcurveto{\pgfpoint{31.228608\du}{14.234525\du}}{\pgfpoint{31.087519\du}{14.359333\du}}{\pgfpoint{31.087519\du}{14.359333\du}} \pgfpathlineto{\pgfpoint{30.746893\du}{14.018707\du}} \pgfpathlineto{\pgfpoint{31.087519\du}{13.678083\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 (32.257320\du,16.930952\du)--(30.742474\du,16.931095\du)--(30.746088\du,14.549137\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 (27.980266\du,14.026612\du)--(30.216282\du,14.020223\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 (30.789204\du,11.923480\du)--(30.757143\du,13.511139\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 (31.278799\du,14.019807\du)--(34.002385\du,14.025438\du); } \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (35.530923\du,9.989037\du)--(35.530923\du,11.889037\du)--(38.145923\du,11.889037\du)--(38.145923\du,9.989037\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (35.530923\du,9.989037\du)--(35.530923\du,11.889037\du)--(38.145923\du,11.889037\du)--(38.145923\du,9.989037\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (36.838423\du,11.056537\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 (37.129244\du,14.043446\du)--(37.124094\du,16.913417\du)--(34.357160\du,16.926058\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{23.937528\du}{14.059213\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{23.937528\du}{14.059213\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 (23.596904\du,13.718589\du)--(23.937528\du,14.059213\du)--(23.596904\du,14.399839\du); \pgfsetlinewidth{0.000100\du} \pgfsetbuttcap \pgfsetmiterjoin \pgfsetdash{}{0pt} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} \pgfpathmoveto{\pgfpoint{24.278153\du}{13.718589\du}} \pgfpathcurveto{\pgfpoint{24.278153\du}{13.718589\du}}{\pgfpoint{24.419243\du}{13.843394\du}}{\pgfpoint{24.419243\du}{14.059213\du}} \pgfpathcurveto{\pgfpoint{24.419243\du}{14.275031\du}}{\pgfpoint{24.278153\du}{14.399839\du}}{\pgfpoint{24.278153\du}{14.399839\du}} \pgfpathlineto{\pgfpoint{23.937528\du}{14.059213\du}} \pgfpathlineto{\pgfpoint{24.278153\du}{13.718589\du}} \pgfusepath{fill} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \pgfpathmoveto{\pgfpoint{24.278153\du}{13.718589\du}} \pgfpathcurveto{\pgfpoint{24.278153\du}{13.718589\du}}{\pgfpoint{24.419243\du}{13.843394\du}}{\pgfpoint{24.419243\du}{14.059213\du}} \pgfpathcurveto{\pgfpoint{24.419243\du}{14.275031\du}}{\pgfpoint{24.278153\du}{14.399839\du}}{\pgfpoint{24.278153\du}{14.399839\du}} \pgfpathlineto{\pgfpoint{23.937528\du}{14.059213\du}} \pgfpathlineto{\pgfpoint{24.278153\du}{13.718589\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 (24.419243\du,14.059213\du)--(25.883795\du,14.041967\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 (21.904601\du,14.049286\du)--(23.455813\du,14.059213\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 (25.811887\du,18.975969\du)--(23.916019\du,18.963903\du)--(23.935195\du,14.591173\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 (37.129244\du,14.043446\du)--(37.128188\du,18.934303\du)--(28.186438\du,18.977751\du); }} \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (29.809367\du,9.974961\du)--(29.809367\du,11.874961\du)--(31.809367\du,11.874961\du)--(31.809367\du,9.974961\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (29.809367\du,9.974961\du)--(29.809367\du,11.874961\du)--(31.809367\du,11.874961\du)--(31.809367\du,9.974961\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (30.809367\du,11.042461\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 (35.480929\du,10.935868\du)--(31.858859\du,10.927412\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 (18.222764\du,13.998829\du)--(19.805582\du,14.025131\du); } % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (17.372771\du,13.998829\du){r}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (24.698449\du,13.515596\du){u}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (29.042810\du,13.272441\du){}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (25.646752\du,13.975968\du){}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (36.896701\du,13.603131\du){x}; \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 (41.281747\du,14.049635\du)--(43.230090\du,14.016749\du); } % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (43.530186\du,14.041749\du){y}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (34.048344\du,13.077600\du)--(34.048344\du,14.977600\du)--(36.048344\du,14.977600\du)--(36.048344\du,13.077600\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (34.048344\du,13.077600\du)--(34.048344\du,14.977600\du)--(36.048344\du,14.977600\du)--(36.048344\du,13.077600\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (35.048344\du,14.145100\du){$\int$}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (31.923591\du,13.615528\du){$\dot{x}$}; \end{tikzpicture}