dynamic output feedback controller

Question

I know basic LaTeX I tried to draw a block diagram similar to the one shown in diagram but I am unable to do it . Please suggest any easy way to draw such block diagram. Thank you This is my code . I can not draw feedback from sum to state estimator.

\documentclass{article}
\usepackage{tikz}
\usetikzlibrary{shapes,arrows,positioning,calc}
\begin{document}
\tikzset{
block/.style = {draw, fill=white, rectangle, minimum height=3em, minimum width=3em},
tmp/.style  = {coordinate}, 
sum/.style= {draw, fill=white, circle, node distance=1cm},
input/.style = {coordinate},
output/.style= {coordinate},
pinstyle/.style = {pin edge={to-,thin,black}
}
}
\begin{tikzpicture}[auto, node distance=2cm,>=latex']
    \node [input, name=rinput] (rinput) {};
    \node [sum, right of=rinput] (sum1) {};
    \node [block, right of=sum1] (controller) {$k$};
    \node [block, above of=controller,node distance=2cm] (up){$A,B$};
    \node [block, right of=controller] (esti) 
{$estimator$};
\node [block, above of=esti,node distance=2cm] (extra){$C$};
    \node [output, right of=extra, node distance=2cm] (output) {};
    \draw [->] (rinput) -- node{$R(s)$} (sum1);
    \draw [->] (sum1)|- node[name=z,anchor=north]{$u(k)$}(up);
    \draw [->] (up) -- node{$x(k)$} (extra);
     \draw [->] (extra) -- node [name=y] {$Y(s)$}(output);
     \draw [->] (y) |-  (esti);
     \draw [->] (esti)--node{$n(k)$}(controller);
    \draw [->] (controller)--(sum1);
\end{tikzpicture}

\end{document}

my new code

\documentclass{article}
\usepackage{tikz}
\usetikzlibrary{shapes,arrows,positioning,calc}
\begin{document}
\tikzset{
block/.style = {draw, fill=white, rectangle, minimum height=3em, minimum width=3em},
tmp/.style  = {coordinate}, 
sum/.style= {draw, fill=white, circle, node distance=1cm},
input/.style = {coordinate},
output/.style= {coordinate},
pinstyle/.style = {pin edge={to-,thin,black}
    },
    point/.style = {draw, fill=black, circle, minimum size=0.8mm, node distance=1.5cm, inner sep=0pt},
}
\begin{tikzpicture}[auto, node distance=2cm,>=latex']
    \node [input, name=rinput] (rinput) {};
    \node [sum, right of=rinput] (sum1) {};
    \node [block, right of=sum1] (controller) {$k$};
    \node [block, above of=controller,node distance=2cm] (up){$A,B$};
    \node [block, right of=controller] (esti) 
{$estimator$};
\node [block, above of=esti,node distance=2cm] (extra){$C$};
    \node [output, right of=extra, node distance=2cm] (output) {};
    \node [point, above =1cm of sum1] (point0){};
    \draw [->] (rinput) -- node{$R(s)$} (sum1);
    \draw [->] (sum1)|- node[name=z,anchor=north]{$u(k)$}(up);
    \draw [->] (up) -- node{$x(k)$} (extra);
   \draw [->] (extra) -- node [name=y]  {$Y(s)$}(output);
   \draw [->] (y) |-  (esti);
     \draw [->] (esti)--node{$n(k)$}(controller);
    \draw [->] (controller)--(sum1);
   % \draw [->] (point0) -|  node{} ([xshift=2cm]esti);
 %  \draw [->] (point0) -- (output |- point0) |- ([yshift=0.5cm] esti);
    \draw [->] (point0) -- (output |- point0) |- ([yshift=0.5cm] esti);
\end{tikzpicture}

\end{document}
\end{document}

Possible duplicate: https://tex.stackexchange.com/questions/175969/block-diagrams-using-tikz — samcarter_is_at_topanswers.xyz, Jan 02 '24 at 10:05
@zahra Why exactly does it not work? Please be specific. We don't know what attempts you've made to solve your problem, and we don't know what errors you're getting. — bonk, Jan 02 '24 at 17:01
@zahra We were able to fix the code formatting for you. There's directions at https://tex.stackexchange.com/editing-help#code and https://tex.stackexchange.com/editing-help#syntax-highlighting (you can also highlight your code and then click {}). — Teepeemm, Jan 02 '24 at 22:52
You can increase the chances to get an answer if you describe which changes you would like to make, in a way so that people don't need to know about dynamic output feedback controllers. This would be much more productive than asking the same question again. — samcarter_is_at_topanswers.xyz, Jan 03 '24 at 21:09
@jsbibra The OP will automatically be notified of new answers. It is not necessary to write a comment to notify them — samcarter_is_at_topanswers.xyz, Jan 06 '24 at 10:51

cfr · Answer 1 · 2024-01-06T02:55:50.067

[Edited to add nodes fitted around groups of nodes and coordinates as requested in comment.]

Something like this? Note that most of the tidying is accomplished by using the positioning syntax <direction>=of ... in place of <direction> of=....

\documentclass{article}
\usepackage{tikz}
\usetikzlibrary{arrows,positioning,fit}
\begin{document}
\newlength\estilength
\settowidth\estilength{$estimator$}
\tikzset{
  block/.style = {draw, fill=white, rectangle, minimum height=3em, minimum width=3em,text width=\estilength,align=center},
  tmp/.style  = {coordinate}, 
  sum/.style= {draw, fill=white, circle, node distance=1cm},
  input/.style = {coordinate},
  output/.style= {coordinate},
  pinstyle/.style = {pin edge={to-,thin,black}
  },
  point/.style = {draw, fill=black, circle, minimum size=0.8mm, node distance=1.5cm, inner sep=0pt},
  dashed node/.style={draw,dashed,inner sep=7.5pt,rounded corners},
}%
\begin{tikzpicture}[auto, node distance=15mm,>=latex']
  \node [input, name=rinput] (rinput) {};
  \node [sum, right=25mm of rinput] (sum1) {};
  \node [block, right=of sum1] (controller) {$k$};
  \node [block, above=of controller] (up){$A,B$};
  \node [block, right=of controller] (esti) {$estimator$};
\node [block] (extra) at (esti |- up){$C$};
  \node [output, right=25mm of extra] (output) {};
  \node [point, above=1cm of sum1] (point0){};
  \draw [->] (rinput) -- node{$R(s)$} (sum1);
  \draw [->] (sum1)|- node[name=z,midway]{$u(k)$}(up);
  \draw [->] (up) -- node{$x(k)$} (extra);
  \draw [->] (extra) -- node [name=y]  {$Y(s)$}(output);
  \draw [->] (y) |-  (esti);
  \draw [->] (esti)--node{$n(k)$}(controller);
  \draw [->] (controller)--(sum1);
  \draw [->] (point0) -- ([xshift=10pt]esti.east |- point0) |- ([yshift=0.5cm] esti) coordinate [midway] (c1);
  \coordinate [xshift=-2.5pt] (c2) at (sum1.south west);
\node (f1) [dashed node,fit=(esti) (c2) (controller) (point0) (c1) (sum1)] {};
  \node [dashed node,fit=(extra) (up) (extra -| c2) (up -| c1)] {};
\end{tikzpicture}
\end{document}

I want to be drawn dashed around them. what should I do about this? — mzn, Jan 04 '24 at 12:25
@zahra Around what? There are no dashes in the image in your question. — cfr, Jan 04 '24 at 19:04
I mean the yellow and green rectangle in the original figure. — mzn, Jan 05 '24 at 08:49
@zahra See edit. I'd use the fit library for this. I assume you mean you want dashes in place of green/yellow fill, though I'm not entirely sure about this? — cfr, Jan 06 '24 at 02:56

js bibra · Answer 2 · 2024-01-24T10:05:35.147

a wee bit variation of the excellent answer by @cfr +1 -- adding colored background and slight shift of the entry point by node[xshift=-1em]

    \draw [->] (rinput) -- node[xshift=-1em]{$R(s)$} (sum1);

and

\begin{pgfonlayer}{background}
            % Draw background box.
            \node[fill=yellow!90!black,thick,draw=gray,rounded corners=2mm, inner xsep=1em, inner ysep=1em] (background) [fit = (z)  (extra) ] {};
            \node[fill=green!50,thick,draw=gray,rounded corners=2mm, inner xsep=1.7em, inner ysep=.5em, xshift=-.5em] (background) [fit = (point0)  (esti) ] {};
        \end{pgfonlayer}

Output

MWE

\documentclass{article}
\usepackage{tikz}
\usetikzlibrary{shapes,arrows,positioning,calc}
\usetikzlibrary{backgrounds,fit,decorations.pathreplacing}
\begin{document}
    \newlength\estilength
    \settowidth\estilength{$estimator$}
    \tikzset{
        block/.style = {draw, fill=brown!10, rectangle, minimum height=3em, minimum width=3em,text width=\estilength,align=center},
        tmp/.style  = {coordinate}, 
        sum/.style= {draw, fill=white, circle, node distance=1cm},
        input/.style = {coordinate},
        output/.style= {coordinate},
        pinstyle/.style = {pin edge={to-,thin,black}
        },
        point/.style = {draw, fill=black, circle, minimum size=0.8mm, node distance=1.5cm, inner sep=0pt},
    }%
    \begin{tikzpicture}[auto, node distance=2cm,>=latex']
        \node [input, name=rinput] (rinput) {};
        \node [sum, right=2cm of rinput] (sum1) {};
        \node [block, right=of sum1] (controller) {$k$};
        \node [block, above=15mm of controller] (up){$A,B$};
        \node [block, right=of controller] (esti) {$estimator$};
    \node [block] (extra) at (esti |- up){$C$};
    \node [output, right=of extra] (output) {};
    \node [point, above=1cm of sum1] (point0){};
    \draw [-&gt;] (rinput) -- node[xshift=-1em]{$R(s)$} (sum1);
    \draw [-&gt;] (sum1)|- node[name=z,midway]{$u(k)$}(up);
    \draw [-&gt;] (up) -- node{$x(k)$} (extra);
    \draw [-&gt;] (extra) -- node [name=y]  {$Y(s)$}(output);
    \draw [-&gt;] (y) |-  (esti);
    \draw [-&gt;] (esti)--node{$n(k)$}(controller);
    \draw [-&gt;] (controller)--(sum1);
    \draw [-&gt;] (point0) -- ([xshift=10pt]esti.east |- point0) |- ([yshift=0.5cm] esti);

    \begin{pgfonlayer}{background}
        % Draw background box.
        \node[fill=yellow!90!black,thick,draw=gray,rounded corners=2mm, inner xsep=1em, inner ysep=1em] (background) [fit = (z)  (extra) ] {};
        \node[fill=green!50,thick,draw=gray,rounded corners=2mm, inner xsep=1.7em, inner ysep=.5em, xshift=-.5em] (background) [fit = (point0)  (esti) ] {};
    \end{pgfonlayer}
\end{tikzpicture}

\end{document}

EDIT

With dashed lines as the OP required

MWE

\documentclass{article}
\usepackage{tikz}
\usetikzlibrary{shapes,arrows,positioning,calc}
\usetikzlibrary{backgrounds,fit,decorations.pathreplacing}
\begin{document}
    \newlength\estilength
    \settowidth\estilength{$estimator$}
    \tikzset{
        block/.style = {draw, fill=brown!10, rectangle, minimum height=3em, minimum width=3em,text width=\estilength,align=center},
        tmp/.style  = {coordinate}, 
        sum/.style= {draw, fill=white, circle, node distance=1cm},
        input/.style = {coordinate},
        output/.style= {coordinate},
        pinstyle/.style = {pin edge={to-,thin,black}
        },
        point/.style = {draw, fill=black, circle, minimum size=0.8mm, node distance=1.5cm, inner sep=0pt},
    }%
    \begin{tikzpicture}[auto, node distance=2cm,>=latex']
        \node [input, name=rinput] (rinput) {};
        \node [sum, right=2cm of rinput] (sum1) {};
        \node [block, right=of sum1] (controller) {$k$};
        \node [block, above=15mm of controller] (up){$A,B$};
        \node [block, right=of controller] (esti) {$estimator$};
    \node [block] (extra) at (esti |- up){$C$};
    \node [output, right=of extra] (output) {};
    \node [point, above=1cm of sum1] (point0){};
    \draw [-&gt;] (rinput) -- node[xshift=-1em]{$R(s)$} (sum1);
    \draw [-&gt;] (sum1)|- node[name=z,midway]{$u(k)$}(up);
    \draw [-&gt;] (up) -- node{$x(k)$} (extra);
    \draw [-&gt;] (extra) -- node [name=y]  {$Y(s)$}(output);
    \draw [-&gt;] (y) |-  (esti);
    \draw [-&gt;] (esti)--node{$n(k)$}(controller);
    \draw [-&gt;] (controller)--(sum1);
    \draw [-&gt;] (point0) -- ([xshift=10pt]esti.east |- point0) |- ([yshift=0.5cm] esti);

    \begin{pgfonlayer}{background}
        % Draw background box.
        \node[fill=yellow!90!black,thick,dashed, draw=gray,rounded corners=2mm, inner xsep=1em, inner ysep=1em] (background) [fit = (z)  (extra) ] {};
        \node[fill=green!50,thick,draw=gray,dashed, rounded corners=2mm, inner xsep=1.7em, inner ysep=.5em, xshift=-.5em] (background) [fit = (point0)  (esti) ] {};
    \end{pgfonlayer}
\end{tikzpicture}

\end{document}

@cfr . Thank you so much, what if I want to have no color and only dashed line around them? I write this code but I want to have dashed \node[draw,rounded corners=2mm, inner xsep=1em, inner ysep=1em] [fit = (z) (extra) ] {}; \node[draw,rounded corners=2mm, inner xsep=1.7em, inner ysep=.5em, xshift=-.5em] [fit = (point0) (esti) ] {}; — mzn, Jan 05 '24 at 13:18
@zahra This answer was written by js bibra and not me ;). I've also edited my answer. I'd also use fit here as it is just easier to use a fitted node than draw the boundary as a path. — cfr, Jan 06 '24 at 02:59
@zahra, in question you not mentioned, that instead colored background you like to have only dashed lines around blocks in diagram! You should be more specific in your question. — Zarko, Jan 06 '24 at 08:30

Zarko · Answer 3 · 2024-01-06T10:54:48.260

With (small) effort to make tikzpicture code more concise. For this are used packages arrows.meta (for nicer arrows' heads), ext.paths.ortho (for two ortho arrow), fit (for dashed nodes around boxes), positioning (for nodes placements) and quotes (for most of edge labels):

\documentclass[margin=3mm]{standalone}
\usepackage{tikz}
\usetikzlibrary{arrows.meta,
                ext.paths.ortho,    % defined in the tikz-ext package
                                    % now possible with Console MiKTeX
                fit,
                positioning,
                quotes}
\begin{document}
\newlength\estilength
\settowidth\estilength{$estimator$}
\tikzset{
  arr/.style = {-Stealth},
  box/.style = {draw,  semithick, minimum height=3em, text width=\estilength, align=center},
  sum/.style = {circle, draw, semithick},
  dot/.style = {circle, fill=black, inner sep=2pt, outer sep=0pt},
  FIT/.style = {draw, dashed, rounded corners, 
                inner sep=2em, xshift=1em, 
                fit=#1},
every edge/.append style = {draw, arr}
        }%
\begin{tikzpicture}[auto, 
    node distance = 17mm and 17mm
                    ]
\coordinate (rin);
\node   (sum1)  [sum, right=of rin]     {};
\node   (cntr)  [box, right=of sum1]    {$k$};
\node   (esti)  [box, right=of cntr]    {\emph{estimator}};
\node   (up)    [box, above=of cntr]    {$A,B$};
\node   (extra) [box, right=of up]      {$C$};
\node   (dot)   [right=of extra, 
                 dot, label = $Y(s)$]    {};
\coordinate[right=of dot] (out);
\node[FIT=(sum1) (esti)]    {};
\node[FIT=(sum1.west |- up) (extra)]    {};
% arrows
\draw   (rin)   edge ["$R(s)$"]     (sum1)
        (up)    edge ["$x(k)$"]     (extra)
        (cntr)  edge                (sum1)
        (extra) edge                (out)
        (esti)  edge ["$n(k)$"]     (cntr);
\draw [arr]     (sum1)  |-          (up) node [pos=0.5, above] {$u(k)$};
\draw [arr]     (sum1.north)  -- ++ (0,9mm) node[dot] {}
                              r-rl  (esti.15);
\draw [arr]     (dot) |- (esti);
\end{tikzpicture}
\end{document}

@jsbibra, thank you very much for nice words. I learn from your answers too . Happy and prosper 2024! — Zarko, Jan 06 '24 at 13:29

dynamic output feedback controller

3 Answers3