% 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: Fri Dec 20 17:01:35 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 (25.926400\du,13.079600\du)--(25.926400\du,14.979600\du)--(27.941400\du,14.979600\du)--(27.941400\du,13.079600\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (25.926400\du,13.079600\du)--(25.926400\du,14.979600\du)--(27.941400\du,14.979600\du)--(27.941400\du,13.079600\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (26.933900\du,14.147100\du){$B_r$}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (32.286250\du,15.980900\du)--(32.286250\du,17.880900\du)--(34.328750\du,17.880900\du)--(34.328750\du,15.980900\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (32.286250\du,15.980900\du)--(32.286250\du,17.880900\du)--(34.328750\du,17.880900\du)--(34.328750\du,15.980900\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (33.307500\du,17.048400\du){$A_r$}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (33.684400\du,14.049100\du){}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (33.684400\du,14.049100\du){}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (25.886300\du,17.308503\du)--(25.886300\du,19.208503\du)--(28.161300\du,19.208503\du)--(28.161300\du,17.308503\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (25.886300\du,17.308503\du)--(25.886300\du,19.208503\du)--(28.161300\du,19.208503\du)--(28.161300\du,17.308503\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (27.023800\du,18.376003\du){$-K_s$}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (19.855000\du,13.092600\du)--(19.855000\du,14.992600\du)--(21.855000\du,14.992600\du)--(21.855000\du,13.092600\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (19.855000\du,13.092600\du)--(19.855000\du,14.992600\du)--(21.855000\du,14.992600\du)--(21.855000\du,13.092600\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (20.855000\du,14.160100\du){N}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (38.930901\du,13.167200\du)--(38.930901\du,15.067200\du)--(40.955901\du,15.067200\du)--(40.955901\du,13.167200\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (38.930901\du,13.167200\du)--(38.930901\du,15.067200\du)--(40.955901\du,15.067200\du)--(40.955901\du,13.167200\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (39.943401\du,14.234700\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 (36.098189\du,14.046817\du)--(38.880665\du,14.097748\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{30.746915\du}{14.018715\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{30.746915\du}{14.018715\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 (30.406291\du,13.678091\du)--(30.746915\du,14.018715\du)--(30.406291\du,14.359341\du); \pgfsetlinewidth{0.000100\du} \pgfsetbuttcap \pgfsetmiterjoin \pgfsetdash{}{0pt} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} \pgfpathmoveto{\pgfpoint{31.087541\du}{13.678091\du}} \pgfpathcurveto{\pgfpoint{31.087541\du}{13.678091\du}}{\pgfpoint{31.228630\du}{13.802896\du}}{\pgfpoint{31.228630\du}{14.018715\du}} \pgfpathcurveto{\pgfpoint{31.228630\du}{14.234533\du}}{\pgfpoint{31.087541\du}{14.359341\du}}{\pgfpoint{31.087541\du}{14.359341\du}} \pgfpathlineto{\pgfpoint{30.746915\du}{14.018715\du}} \pgfpathlineto{\pgfpoint{31.087541\du}{13.678091\du}} \pgfusepath{fill} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \pgfpathmoveto{\pgfpoint{31.087541\du}{13.678091\du}} \pgfpathcurveto{\pgfpoint{31.087541\du}{13.678091\du}}{\pgfpoint{31.228630\du}{13.802896\du}}{\pgfpoint{31.228630\du}{14.018715\du}} \pgfpathcurveto{\pgfpoint{31.228630\du}{14.234533\du}}{\pgfpoint{31.087541\du}{14.359341\du}}{\pgfpoint{31.087541\du}{14.359341\du}} \pgfpathlineto{\pgfpoint{30.746915\du}{14.018715\du}} \pgfpathlineto{\pgfpoint{31.087541\du}{13.678091\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 (32.240420\du,16.930983\du)--(30.742500\du,16.931100\du)--(30.746099\du,14.549132\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 (27.983969\du,14.026602\du)--(30.216295\du,14.020230\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 (30.789233\du,11.923482\du)--(30.757167\du,13.511146\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 (31.278812\du,14.019814\du)--(34.002358\du,14.025440\du); } \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (35.530900\du,9.989040\du)--(35.530900\du,11.889040\du)--(38.145900\du,11.889040\du)--(38.145900\du,9.989040\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (35.530900\du,9.989040\du)--(35.530900\du,11.889040\du)--(38.145900\du,11.889040\du)--(38.145900\du,9.989040\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (36.838400\du,11.056540\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 (37.025681\du,14.063794\du)--(37.017827\du,16.967433\du)--(34.379062\du,16.941481\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{23.937515\du}{14.059215\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{23.937515\du}{14.059215\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 (23.596891\du,13.718591\du)--(23.937515\du,14.059215\du)--(23.596891\du,14.399841\du); \pgfsetlinewidth{0.000100\du} \pgfsetbuttcap \pgfsetmiterjoin \pgfsetdash{}{0pt} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} \pgfpathmoveto{\pgfpoint{24.278141\du}{13.718591\du}} \pgfpathcurveto{\pgfpoint{24.278141\du}{13.718591\du}}{\pgfpoint{24.419230\du}{13.843396\du}}{\pgfpoint{24.419230\du}{14.059215\du}} \pgfpathcurveto{\pgfpoint{24.419230\du}{14.275033\du}}{\pgfpoint{24.278141\du}{14.399841\du}}{\pgfpoint{24.278141\du}{14.399841\du}} \pgfpathlineto{\pgfpoint{23.937515\du}{14.059215\du}} \pgfpathlineto{\pgfpoint{24.278141\du}{13.718591\du}} \pgfusepath{fill} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \pgfpathmoveto{\pgfpoint{24.278141\du}{13.718591\du}} \pgfpathcurveto{\pgfpoint{24.278141\du}{13.718591\du}}{\pgfpoint{24.419230\du}{13.843396\du}}{\pgfpoint{24.419230\du}{14.059215\du}} \pgfpathcurveto{\pgfpoint{24.419230\du}{14.275033\du}}{\pgfpoint{24.278141\du}{14.399841\du}}{\pgfpoint{24.278141\du}{14.399841\du}} \pgfpathlineto{\pgfpoint{23.937515\du}{14.059215\du}} \pgfpathlineto{\pgfpoint{24.278141\du}{13.718591\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 (24.419200\du,14.059200\du)--(25.876695\du,14.042044\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 (21.904590\du,14.049299\du)--(23.455800\du,14.059200\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 (25.839033\du,18.252271\du)--(23.967878\du,18.242428\du)--(23.941360\du,14.590785\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 (37.025681\du,14.063794\du)--(37.017827\du,18.267428\du)--(28.210835\du,18.259563\du); }} \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (29.809400\du,9.974960\du)--(29.809400\du,11.874960\du)--(31.809400\du,11.874960\du)--(31.809400\du,9.974960\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (29.809400\du,9.974960\du)--(29.809400\du,11.874960\du)--(31.809400\du,11.874960\du)--(31.809400\du,9.974960\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (30.809400\du,11.042460\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 (35.480918\du,10.935870\du)--(31.858882\du,10.927411\du); } % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (24.698400\du,13.515600\du){u}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (29.042800\du,13.272400\du){}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (25.646800\du,13.976000\du){}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (36.896700\du,13.603100\du){$x_r$}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (40.292814\du,15.717428\du){$y_r$}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (34.048300\du,13.077600\du)--(34.048300\du,14.977600\du)--(36.048300\du,14.977600\du)--(36.048300\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 (34.048300\du,13.077600\du)--(34.048300\du,14.977600\du)--(36.048300\du,14.977600\du)--(36.048300\du,13.077600\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (35.048300\du,14.145100\du){$\int$}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (31.923600\du,13.615500\du){$\dot{x}_r$}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (25.949852\du,25.438042\du)--(25.949852\du,27.338042\du)--(27.952352\du,27.338042\du)--(27.952352\du,25.438042\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (25.949852\du,25.438042\du)--(25.949852\du,27.338042\du)--(27.952352\du,27.338042\du)--(27.952352\du,25.438042\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (26.951102\du,26.505542\du){$A_f$}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (27.328002\du,23.506242\du){}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (27.328002\du,23.506242\du){}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (31.262009\du,22.449342\du)--(31.262009\du,24.349342\du)--(33.262009\du,24.349342\du)--(33.262009\du,22.449342\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (31.262009\du,22.449342\du)--(31.262009\du,24.349342\du)--(33.262009\du,24.349342\du)--(33.262009\du,22.449342\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (32.262009\du,23.516842\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 (29.741754\du,23.459628\du)--(31.212157\du,23.424455\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{24.390517\du}{23.475857\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{24.390517\du}{23.475857\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 (24.049893\du,23.135233\du)--(24.390517\du,23.475857\du)--(24.049893\du,23.816482\du); \pgfsetlinewidth{0.000100\du} \pgfsetbuttcap \pgfsetmiterjoin \pgfsetdash{}{0pt} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetfillcolor{dialinecolor} \pgfpathmoveto{\pgfpoint{24.731143\du}{23.135233\du}} \pgfpathcurveto{\pgfpoint{24.731143\du}{23.135233\du}}{\pgfpoint{24.872232\du}{23.260037\du}}{\pgfpoint{24.872232\du}{23.475857\du}} \pgfpathcurveto{\pgfpoint{24.872232\du}{23.691675\du}}{\pgfpoint{24.731143\du}{23.816482\du}}{\pgfpoint{24.731143\du}{23.816482\du}} \pgfpathlineto{\pgfpoint{24.390517\du}{23.475857\du}} \pgfpathlineto{\pgfpoint{24.731143\du}{23.135233\du}} \pgfusepath{fill} \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \pgfpathmoveto{\pgfpoint{24.731143\du}{23.135233\du}} \pgfpathcurveto{\pgfpoint{24.731143\du}{23.135233\du}}{\pgfpoint{24.872232\du}{23.260037\du}}{\pgfpoint{24.872232\du}{23.475857\du}} \pgfpathcurveto{\pgfpoint{24.872232\du}{23.691675\du}}{\pgfpoint{24.731143\du}{23.816482\du}}{\pgfpoint{24.731143\du}{23.816482\du}} \pgfpathlineto{\pgfpoint{24.390517\du}{23.475857\du}} \pgfpathlineto{\pgfpoint{24.731143\du}{23.135233\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 (25.904061\du,26.388123\du)--(24.386102\du,26.388242\du)--(24.389713\du,24.006286\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 (21.979918\du,23.467570\du)--(23.908802\du,23.475857\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 (24.922415\du,23.476955\du)--(27.645960\du,23.482581\du); } % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (37.967823\du,26.142397\du){x}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (31.717848\du,21.917414\du){y}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (27.691902\du,22.534742\du)--(27.691902\du,24.434742\du)--(29.691902\du,24.434742\du)--(29.691902\du,22.534742\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (27.691902\du,22.534742\du)--(27.691902\du,24.434742\du)--(29.691902\du,24.434742\du)--(29.691902\du,22.534742\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (28.691902\du,23.602242\du){$\int$}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (25.567202\du,23.072642\du){$\dot{x}$}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (19.915395\du,22.513030\du)--(19.915395\du,24.413030\du)--(21.930395\du,24.413030\du)--(21.930395\du,22.513030\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (19.915395\du,22.513030\du)--(19.915395\du,24.413030\du)--(21.930395\du,24.413030\du)--(21.930395\du,22.513030\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (20.922895\du,23.580530\du){$B_f$}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (38.702810\du,25.442382\du)--(38.702810\du,27.342382\du)--(41.217810\du,27.342382\du)--(41.217810\du,25.442382\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (38.702810\du,25.442382\du)--(38.702810\du,27.342382\du)--(41.217810\du,27.342382\du)--(41.217810\du,25.442382\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (39.960310\du,26.587382\du){Algo}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (39.542817\du,15.842438\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 (32.263491\du,22.413699\du)--(32.267846\du,19.517423\du)--(20.892891\du,19.517423\du)--(20.861922\du,15.042731\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 (38.652958\du,26.391946\du)--(28.000795\du,26.388392\du); }} \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (34.300331\du,20.292418\du)--(34.300331\du,22.192418\du)--(37.810331\du,22.192418\du)--(37.810331\du,20.292418\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (34.300331\du,20.292418\du)--(34.300331\du,22.192418\du)--(37.810331\du,22.192418\du)--(37.810331\du,20.292418\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (36.055331\du,21.437418\du){Sensor}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (33.824083\du,19.881170\du)--(33.824083\du,21.781170\du)--(37.334083\du,21.781170\du)--(37.334083\du,19.881170\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (33.824083\du,19.881170\du)--(33.824083\du,21.781170\du)--(37.334083\du,21.781170\du)--(37.334083\du,19.881170\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (35.579083\du,21.026170\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 (39.944776\du,15.115158\du)--(39.958936\du,25.394424\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 (36.812302\du,22.240727\du)--(39.203339\du,25.394074\du); } % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (36.592829\du,23.467408\du){}; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (37.940323\du,23.062411\du){$y_{rji}$}; \definecolor{dialinecolor}{rgb}{1.000000, 1.000000, 1.000000} \pgfsetfillcolor{dialinecolor} \fill (23.390381\du,20.019922\du)--(23.390381\du,21.919922\du)--(25.405381\du,21.919922\du)--(25.405381\du,20.019922\du)--cycle; \pgfsetlinewidth{0.100000\du} \pgfsetdash{}{0pt} \pgfsetdash{}{0pt} \pgfsetmiterjoin \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \draw (23.390381\du,20.019922\du)--(23.390381\du,21.919922\du)--(25.405381\du,21.919922\du)--(25.405381\du,20.019922\du)--cycle; % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node at (24.397881\du,21.087422\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 (24.394943\du,21.969604\du)--(24.392080\du,22.944202\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 (21.517888\du,20.992417\du)--(23.340032\du,20.978184\du); }} % setfont left to latex \definecolor{dialinecolor}{rgb}{0.000000, 0.000000, 0.000000} \pgfsetstrokecolor{dialinecolor} \node[anchor=west] at (19.865395\du,21.112419\du){$v_{ref}$}; \end{tikzpicture}