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ProportionalDeriviateControl.tex
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ProportionalDeriviateControl.tex
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\documentclass{standalone}
\usepackage{graphicx} % Required for inserting images
\usepackage{tikz}
\usetikzlibrary{positioning}
\usetikzlibrary{shapes,arrows}
\newcommand{\sse}{\mathrm{ss}}
\newcommand{\re}{\mathrm{ref}}
\usepackage{amsmath, amsthm}
\usepackage{booktabs}
\usepackage{tabularx}
\usepackage{circuitikz}
\tikzstyle{block} = [draw, fill=blue!20, rectangle, minimum height=3em, minimum width=4em]
\tikzstyle{controller} = [draw, fill=red!20, rectangle, minimum height=3em, minimum width=4em]
\tikzstyle{sum} = [draw, fill=blue!20, circle, node distance=1cm]
\tikzstyle{input} = [coordinate]
\tikzstyle{output} = [coordinate]
\begin{document}
\begin{tikzpicture}[auto, >=latex']
% Nodes
\node [input] (input) {};
\node [sum, right = 1cm of input] (sum) {};
\node [controller, right = 1cm of sum] (system) {$K_D s + K_P$};
\node [block, right = 1cm of system] (system2) {$\frac{k}{ms^2}$};
\node [output, right = 2cm of system2] (output) {};
\node [input, below = 0.5cm of system] (m) {};
% Arrows
\draw [draw,->] (input) -- node {$Z_\re$} (sum);
\draw [->] (sum) -- node {} (system);
\draw [->] (system) -- 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{lateximage}% NEW
% \caption{Proportional-derivative control.}
\end{document}