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CircuitB.tex
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CircuitB.tex
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\documentclass{standalone}
\usepackage{amsmath, amsthm}
\usepackage{tikz}
\usetikzlibrary{positioning}
\usetikzlibrary{shapes,arrows}
\begin{document}
\begin{tikzpicture}[auto, >=latex']
% Nodes
\node [input] (input) {};
\node [sum, right = 1cm of input] (sum) {};
\node [controller, right = 1cm of sum] (con1) {$\frac{s+p_c}{s+z_c}$};
\node [controller, right = 1cm of con1] (con2) {$K_D s + K_P$};
\node [block, right = 1cm of con2] (system2) {$\frac{k}{ms^2}$};
\node [output, right = 2cm of system2] (output) {};
\node [input, below = 0.5cm of con2] (m) {};
% Arrows
\draw [draw,->] (input) -- node {$Z_\re$} (sum);
\draw [->] (sum) -- (con1);
\draw [->] (con1) -- (con2);
\draw [->] (con2) -- node {$I$} (system2);
\draw [->] (system2) -- node (y) {$Z$}(output);
\draw [-] (y) |- (m) {} ;
\draw [->] (m) -| node[pos=0.99] {$-$} node [near end] {} (sum);
\end{tikzpicture}
\end{document}