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helm.dot
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helm.dot
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digraph g {
rankdir=LR;
nodesep=0.20;
ranksep=0.20;
style=invis;
subgraph cluster_0 {
e [shape=point];
Ti [shape=box, label=<(T<SUB>i</SUB> s)<SUP>-1</SUP>>];
sum_e [shape=circle, label=<Σ>];
}
actuator [shape=box, label=<<SUP>u(s)</SUP>⁄<SUB>v(s)</SUB>>, style=filled];
f [shape=point];
kp [shape=box, label=<k<SUB>p</SUB>>];
output [shape=none, style=invis];
process [shape=box, label=<<SUP>y(s)</SUP>⁄<SUB>u(s)</SUB>>, style=filled];
r [shape=point];
sum_es [shape=circle, label=<Σ>];
sum_kp [shape=circle, label=<Σ>];
Td [shape=box, label=<T<SUB>d</SUB> s>];
Tf [shape=box, label=<(1 + T<SUB>f</SUB> s)<SUP>-1</SUP>>];
Tt [shape=box, label=<(T<SUB>t</SUB> s)<SUP>-1</SUP>>];
u [shape=point];
v [shape=point];
y [shape=point];
actuator -> u [arrowhead=none, headlabel=<u>, weight=10];
e -> sum_kp [];
e -> Ti [];
f -> Tf [dir=back, arrowtail=none, taillabel=<f>];
kp -> v [arrowhead=none, headlabel=<v>, weight=10];
process -> y [weight=10, arrowhead=none];
r -> sum_e [label=<r>];
sum_e -> e [arrowhead=none, headlabel=<e>];
sum_es -> u [dir=back, headport=n, tailport=e];
sum_e -> y [dir=back, taillabel=<<B>− </B>>];
sum_kp -> kp [weight=10];
Td -> f [dir=back];
Td -> sum_kp [headlabel=<<B>−  </B>>];
Tf -> y [dir=back];
Ti -> sum_kp [];
Tt -> sum_es [dir=back, label=<e<SUB>s</SUB>>, headport=nw];
Tt -> sum_kp [];
u -> process [weight=10];
v -> actuator [weight=10];
v -> sum_es [headlabel=<<B>−</B>>, tailport=n, headport=w];
y -> output [taillabel=<y>];
}