blob: 02f117d08ea7a2d8a16fc1ed3f6437d1fc1be5d1 (
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\begin{tikzpicture}[very thick]
\matrix[
column sep = 6mm, row sep = 4mm,
]{
&&& \node[rtbox] (D) {\(\mathbf{D}\)}; \\
\node[rtsplit] (U) {};
& \node[rtbox] (B) {\(\mathbf{B}\)};
& \node[rtsum] (dX) {};
\node[above = 0mm of dX] {\(\dot{\mathbf{x}}\)};
& \node[rtint] (I) {};
& \node[rtsplit] (X) {};
\node[above = 0mm of X] {\(\mathbf{x}\)};
& \node[rtbox] (C) {\(\mathbf{C}\)};
& \node[rtsum] (Y) {}; \\[1mm]
&&& \node[rtbox] (A) {\(\mathbf{A}\)}; \\
};
\draw[->]
(U) -- ++(-1,0) node[left] {\(\mathbf{u}\)}
(U) edge (B)
(B) edge (dX)
(dX) edge (I)
(I) -- (X)
(X) edge (C)
(C) edge (Y)
(Y) -- ++(1,0) node[right] {\(\mathbf{y}\)}
;
\draw[->] (U) |- (D);
\draw[->] (D) -| (Y);
\draw[->] (X) |- (A);
\draw[->] (A) -| (dX);
\end{tikzpicture}
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