<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
"http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
<!-- Creator: dpic version 2022.12.01 option -v for SVG 1.1 -->
<!-- width="512" height="1083" -->
<svg
 xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"
 xml:space="preserve"
 style="shape-rendering:geometricPrecision; text-rendering:geometricPrecision;
 image-rendering:optimizeQuality; fill-rule:evenodd; clip-rule:evenodd"
 width="510.666667px" height="1081.788427px"
 viewBox="0 0 510.666667 1081.788427"
 font-size="11pt" text-anchor="middle"
 stroke="black" stroke-miterlimit="10" stroke-width="1.066667" fill="none">
<g>
<g style="font-family:Times"
>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="3.733333" y="48.266667"><tspan font-style="italic">r(s)</tspan></text>
<polygon stroke-width="0" fill="black"
 points="29.866667,48.533333 39.466667,50.933333
29.866667,53.333333" />
<line x1="1.066667" y1="50.933333" x2="37.267677" y2="50.933333" />
<circle cx="51.466667" cy="50.933333" r="12" />
<line x1="63.466667" y1="50.933333" x2="101.866667" y2="50.933333" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="82.666667" y="48.266667"><tspan font-style="italic">e(s)</tspan></text>
<polygon stroke-width="0" fill="black"
 points="130.666667,48.533333 140.266667,50.933333
130.666667,53.333333" />
<line x1="101.866667" y1="50.933333" x2="138.067677" y2="50.933333" />
<rect x="140.266667" y="38.933333" width="36" height="24" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="158.266667" y="55.773333"
><tspan font-style="italic">K</tspan><tspan font-size="70%"
dy="0.66ex" dx="">P</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan></text>
<polygon stroke-width="0" fill="black"
 points="193.066667,48.533333 202.666667,50.933333
193.066667,53.333333" />
<line x1="176.266667" y1="50.933333" x2="200.467677" y2="50.933333" />
<circle cx="214.666667" cy="50.933333" r="12" />
<line x1="101.866667" y1="50.933333" x2="101.866667" y2="12.533333" />
<polygon stroke-width="0" fill="black"
 points="130.666667,10.133333 140.266667,12.533333
130.666667,14.933333" />
<line x1="101.866667" y1="12.533333" x2="138.067677" y2="12.533333" />
<rect x="140.266667" y="0.533333" width="36" height="24" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="158.266667" y="17.373333"
><tspan font-style="italic">K</tspan><tspan font-size="70%"
dy="0.66ex" dx="">D</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan>s</text>
<line x1="176.266667" y1="12.533333" x2="214.666667" y2="12.533333" />
<polygon stroke-width="0" fill="black"
 points="217.066667,29.333333 214.666667,38.933333
212.266667,29.333333" />
<line x1="214.666667" y1="12.533333" x2="214.666667" y2="36.734344" />
<line x1="101.866667" y1="50.933333" x2="101.866667" y2="89.333333" />
<polygon stroke-width="0" fill="black"
 points="130.666667,86.933333 140.266667,89.333333
130.666667,91.733333" />
<line x1="101.866667" y1="89.333333" x2="138.067677" y2="89.333333" />
<rect x="140.266667" y="77.333333" width="36" height="24" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="158.266667" y="94.173333"
><tspan font-style="italic">K</tspan><tspan font-size="70%"
dy="0.66ex" dx="">I</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan>/s</text>
<line x1="176.266667" y1="89.333333" x2="214.666667" y2="89.333333" />
<polygon stroke-width="0" fill="black"
 points="212.266667,72.533333 214.666667,62.933333
217.066667,72.533333" />
<line x1="214.666667" y1="89.333333" x2="214.666667" y2="65.132323" />
<polygon stroke-width="0" fill="black"
 points="255.466667,48.533333 265.066667,50.933333
255.466667,53.333333" />
<line x1="226.666667" y1="50.933333" x2="262.867677" y2="50.933333" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="244.767172" y="48.266667"><tspan font-style="italic">u(s)</tspan></text>
<rect x="265.066667" y="26.933333" width="72" height="48" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="301.066667" y="55.773333"><tspan font-style="italic">G(s)</tspan></text>
<polygon stroke-width="0" fill="black"
 points="365.866667,48.533333 375.466667,50.933333
365.866667,53.333333" />
<line x1="337.066667" y1="50.933333" x2="373.267677" y2="50.933333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="end"
 x="372.8" y="45.609963"><tspan font-style="italic">y(s)</tspan></text>
<polyline points="356.266667,50.933333 356.266667,122.933333
51.466667,122.933333" />
<polygon stroke-width="0" fill="black"
 points="49.066667,72.533333 51.466667,62.933333
53.866667,72.533333" />
<line x1="51.466667" y1="122.933333" x2="51.466667" y2="65.132323" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="end"
 x="46.133333" y="70.44"><tspan font-style="italic">-</tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="3.733333" y="141.92176"
>(a) <tspan font-style="italic">PID</tspan> control</text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="15.733333" y="199.466667"><tspan font-style="italic">r</tspan></text>
<polygon stroke-width="0" fill="black"
 points="41.866667,199.733333 51.466667,202.133333
41.866667,204.533333" />
<line x1="13.066667" y1="202.133333" x2="49.267677" y2="202.133333" />
<circle fill="rgb(153,153,153)"
 cx="61.066667" cy="202.133333" r="9.6" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="63.733333" y="224.08"
>&#8201;<tspan font-style="italic">-</tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="end"
 x="51.466667" y="199.466667"><tspan font-style="italic">+</tspan></text>
<rect fill="rgb(230,230,230)"
 stroke="none"
 x="99.466667" y="173.333333" width="297.6" height="115.2" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="102.133333" y="285.866667"><tspan font-style="italic">Plant</tspan></text>
<polygon stroke-width="0" fill="black"
 points="99.466667,199.733333 109.066667,202.133333
99.466667,204.533333" />
<line x1="70.666667" y1="202.133333" x2="106.867677" y2="202.133333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="92.533333" y="199.466667"><tspan font-style="italic">u</tspan></text>
<rect fill="rgb(153,153,153)"
 x="109.066667" y="182.933333" width="28.8" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="123.466667" y="206.973333"><tspan font-style="italic">B</tspan></text>
<polygon stroke-width="0" fill="black"
 points="166.666667,197.466667 176.266667,202.133333
166.666667,206.8" />
<line stroke-width="4"
 x1="137.866667" y1="202.133333" x2="171.692025" y2="202.133333" />
<circle fill="rgb(153,153,153)"
 cx="185.866667" cy="202.133333" r="9.6" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="188.533333" y="224.08"
>&#8201;<tspan font-style="italic">+</tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="end"
 x="176.266667" y="196.8">+</text>
<polygon stroke-width="0" fill="black"
 points="224.266667,197.466667 233.866667,202.133333
224.266667,206.8" />
<line stroke-width="4"
 x1="195.466667" y1="202.133333" x2="229.292025" y2="202.133333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="214.666667" y="197.64"><tspan font-style="bold">x</tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="214.666667" y="190.133333">.</text>
<rect fill="rgb(153,153,153)"
 x="233.866667" y="182.933333" width="28.8" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="248.266667" y="206.973333"><tspan font-style="italic">I/s</tspan></text>
<polygon stroke-width="0" fill="black"
 points="349.066667,197.466667 358.666667,202.133333
349.066667,206.8" />
<line stroke-width="4"
 x1="262.666667" y1="202.133333" x2="354.092025" y2="202.133333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="310.666667" y="197.64"><tspan font-style="bold">x</tspan></text>
<rect fill="rgb(153,153,153)"
 x="358.666667" y="182.933333" width="28.8" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="373.066667" y="206.973333"><tspan font-style="italic">C</tspan></text>
<line stroke-width="4"
 x1="387.466667" y1="202.133333" x2="425.866667" y2="202.133333" />
<polygon stroke-width="0" fill="black"
 points="454.666667,197.466667 464.266667,202.133333
454.666667,206.8" />
<line stroke-width="4"
 x1="425.866667" y1="202.133333" x2="459.692025" y2="202.133333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="445.066667" y="197.64"><tspan font-style="bold">y</tspan></text>
<rect fill="rgb(153,153,153)"
 x="233.866667" y="240.533333" width="28.8" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="248.266667" y="264.573333"><tspan font-style="italic">A</tspan></text>
<polygon stroke-width="0" fill="black"
 points="272.266667,264.4 262.666667,259.733333
272.266667,255.066667" />
<polyline stroke-width="4"
 points="267.241308,259.733333 301.066667,259.733333
301.066667,202.133333" />
<polygon stroke-width="0" fill="black"
 points="181.2,221.333333 185.866667,211.733333
190.533333,221.333333" />
<polyline stroke-width="4"
 points="233.866667,259.733333 185.866667,259.733333
185.866667,216.307975" />
<rect fill="rgb(153,153,153)"
 x="233.866667" y="298.133333" width="28.8" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="248.266667" y="322.173333"><tspan font-style="italic">K</tspan></text>
<polygon stroke-width="0" fill="black"
 points="58.666667,221.333333 61.066667,211.733333
63.466667,221.333333" />
<polyline points="233.866667,317.333333 61.066667,317.333333
61.066667,213.932323" />
<rect fill="rgb(230,230,230)"
 stroke="none"
 x="41.866667" y="346.133333" width="412.8" height="172.8" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="44.533333" y="516.266667"
><tspan font-style="italic">Observer</tspan></text>
<rect fill="rgb(153,153,153)"
 x="233.866667" y="355.733333" width="28.8" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="248.266667" y="379.773333"><tspan font-style="italic">I/s</tspan></text>
<polygon stroke-width="0" fill="black"
 points="224.266667,370.266667 233.866667,374.933333
224.266667,379.6" />
<line stroke-width="4"
 x1="229.292025" y1="374.933333" x2="195.466667" y2="374.933333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="214.666667" y="370.44"><tspan font-style="bold">x</tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="214.666667" y="370.44">&#710;</text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="214.666667" y="358.093333">.</text>
<circle fill="rgb(153,153,153)"
 cx="185.866667" cy="374.933333" r="9.6" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="188.533333" y="396.88"
>&#8201;<tspan font-style="italic">+</tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="end"
 x="176.266667" y="369.6"><tspan font-style="italic">+</tspan></text>
<polygon stroke-width="0" fill="black"
 points="166.666667,370.266667 176.266667,374.933333
166.666667,379.6" />
<line stroke-width="4"
 x1="171.692025" y1="374.933333" x2="137.866667" y2="374.933333" />
<circle fill="rgb(153,153,153)"
 cx="128.266667" cy="374.933333" r="9.6" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="130.933333" y="396.88"
>&#8201;<tspan font-style="italic">+</tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="end"
 x="118.666667" y="369.6"><tspan font-style="italic">+</tspan></text>
<polygon stroke-width="0" fill="black"
 points="109.066667,370.266667 118.666667,374.933333
109.066667,379.6" />
<line stroke-width="4"
 x1="114.092025" y1="374.933333" x2="80.266667" y2="374.933333" />
<rect fill="rgb(153,153,153)"
 x="51.466667" y="355.733333" width="28.8" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="65.866667" y="379.773333"><tspan font-style="italic">B</tspan></text>
<polygon stroke-width="0" fill="black"
 points="41.866667,372.533333 51.466667,374.933333
41.866667,377.333333" />
<polyline points="80.266667,202.133333 80.266667,173.333333
3.466667,173.333333
3.466667,374.933333
49.267677,374.933333" />
<rect fill="rgb(153,153,153)"
 x="233.866667" y="413.333333" width="28.8" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="248.266667" y="437.373333"><tspan font-style="italic">A</tspan></text>
<line stroke-width="4"
 x1="262.666667" y1="374.933333" x2="301.066667" y2="374.933333" />
<polygon stroke-width="0" fill="black"
 points="272.266667,322 262.666667,317.333333
272.266667,312.666667" />
<polygon stroke-width="0" fill="black"
 points="272.266667,437.2 262.666667,432.533333
272.266667,427.866667" />
<polyline stroke-width="4"
 points="267.241308,317.333333 301.066667,317.333333
301.066667,432.533333
267.241308,432.533333" />
<polygon stroke-width="0" fill="black"
 points="181.2,394.133333 185.866667,384.533333
190.533333,394.133333" />
<polyline stroke-width="4"
 points="233.866667,432.533333 185.866667,432.533333
185.866667,389.107975" />
<rect fill="rgb(153,153,153)"
 x="358.666667" y="355.733333" width="28.8" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="373.066667" y="379.773333"><tspan font-style="italic">C</tspan></text>
<polygon stroke-width="0" fill="black"
 points="416.266667,370.266667 425.866667,374.933333
416.266667,379.6" />
<line stroke-width="4"
 x1="387.466667" y1="374.933333" x2="421.292025" y2="374.933333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="406.666667" y="370.44"><tspan font-style="bold">y</tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="406.666667" y="370.44">&#710;</text>
<polygon stroke-width="0" fill="black"
 points="349.066667,370.266667 358.666667,374.933333
349.066667,379.6" />
<line stroke-width="4"
 x1="301.066667" y1="374.933333" x2="354.092025" y2="374.933333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="329.866667" y="370.44"><tspan font-style="italic">x</tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="329.866667" y="370.44">&#710;</text>
<circle fill="rgb(153,153,153)"
 cx="435.466667" cy="374.933333" r="9.6" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="438.133333" y="362.666667"><tspan font-style="italic">+</tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="end"
 x="425.866667" y="369.6"><tspan font-style="italic">-</tspan></text>
<polygon stroke-width="0" fill="black"
 points="440.133333,355.733333 435.466667,365.333333
430.8,355.733333" />
<line stroke-width="4"
 x1="435.466667" y1="360.758692" x2="435.466667" y2="202.133333" />
<rect fill="rgb(153,153,153)"
 x="233.866667" y="470.933333" width="28.8" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="248.266667" y="494.973333"><tspan font-style="italic">L</tspan></text>
<polygon stroke-width="0" fill="black"
 points="272.266667,494.8 262.666667,490.133333
272.266667,485.466667" />
<polyline stroke-width="4"
 points="435.466667,384.533333 435.466667,490.133333
267.241308,490.133333" />
<polygon stroke-width="0" fill="black"
 points="123.6,394.133333 128.266667,384.533333
132.933333,394.133333" />
<polyline stroke-width="4"
 points="233.866667,490.133333 128.266667,490.133333
128.266667,389.107975" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="3.733333" y="555.866667"><tspan font-style="italic">r</tspan></text>
<polygon stroke-width="0" fill="black"
 points="29.866667,556.133333 39.466667,558.533333
29.866667,560.933333" />
<line x1="1.066667" y1="558.533333" x2="37.267677" y2="558.533333" />
<circle cx="51.466667" cy="558.533333" r="12" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="end"
 x="48.8" y="582.88"><tspan font-style="italic">-</tspan></text>
<polygon stroke-width="0" fill="black"
 points="49.066667,580.133333 51.466667,570.533333
53.866667,580.133333" />
<line x1="51.466667" y1="572.732323" x2="51.466667" y2="589.733333" />
<rect x="33.466667" y="589.733333" width="36" height="24" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="51.466667" y="606.573333"><tspan font-style="italic">K</tspan></text>
<polygon stroke-width="0" fill="black"
 points="49.066667,623.333333 51.466667,613.733333
53.866667,623.333333" />
<line x1="51.466667" y1="615.932323" x2="51.466667" y2="632.933333" />
<line x1="51.466667" y1="632.933333" x2="89.866667" y2="632.933333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="70.666667" y="630.266667"
><tspan>&#710;</tspan><tspan dx="-0.9ex"><tspan font-style="bold">x</tspan></tspan></text>
<rect x="89.866667" y="602.933333" width="192" height="60" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="105.466933" y="636.466533"
><tspan dx="0.987654ex"> </tspan><tspan dy="-1.2ex"
dx="0.493827ex"><tspan font-style="italic">d</tspan></tspan><tspan
dy=" 2.6ex"
dx="-1.48148ex"><tspan font-style="italic">dt</tspan></tspan><tspan
dy="-1.4ex" dx="0ex"> </tspan></text>
<line x1="106.693067" y1="632.933333" x2="119.599733" y2="632.933333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="122.2664" y="636.466533"
><tspan>&#710;</tspan><tspan dx="-0.9ex"><tspan font-style="bold">x</tspan></tspan> <tspan font-style="italic">= (A-LC)</tspan> <tspan>&#710;</tspan><tspan dx="-0.9ex"><tspan font-style="bold">x</tspan></tspan>
<tspan font-style="italic">+ Bu + L</tspan><tspan font-style="bold">y</tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="92.533333" y="660.266667"
><tspan font-style="italic">Observer</tspan></text>
<polygon stroke-width="0" fill="black"
 points="291.466667,620.333333 281.866667,617.933333
291.466667,615.533333" />
<line x1="284.065656" y1="617.933333" x2="301.066667" y2="617.933333" />
<line x1="301.066667" y1="617.933333" x2="301.066667" y2="558.533333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="320.266667" y="555.866667"><tspan font-style="italic">u</tspan></text>
<polygon stroke-width="0" fill="black"
 points="329.866667,556.133333 339.466667,558.533333
329.866667,560.933333" />
<line x1="63.466667" y1="558.533333" x2="337.267677" y2="558.533333" />
<rect x="339.466667" y="528.533333" width="108" height="60" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="346.666933" y="552.595933"
><tspan dx="0.987654ex"> </tspan><tspan dy="-1.2ex"
dx="0.493827ex"><tspan font-style="italic">d</tspan></tspan><tspan
dy=" 2.6ex"
dx="-1.48148ex"><tspan font-style="italic">dt</tspan></tspan><tspan
dy="-1.4ex" dx="0ex"> </tspan></text>
<line x1="347.893067" y1="549.062733" x2="360.799733" y2="549.062733" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="363.4664" y="552.595933"
><tspan font-style="bold">x</tspan> <tspan font-style="italic">= A</tspan> <tspan font-style="bold">x</tspan> <tspan font-style="italic">+ Bu</tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="366.133067" y="571.955933"
><tspan font-style="bold">y</tspan> <tspan font-style="italic">= C</tspan> <tspan font-style="bold">x</tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="342.133333" y="585.866667"><tspan font-style="italic">Plant</tspan></text>
<polygon stroke-width="0" fill="black"
 points="476.266667,556.133333 485.866667,558.533333
476.266667,560.933333" />
<line x1="447.466667" y1="558.533333" x2="483.667677" y2="558.533333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="end"
 x="483.2" y="553.209963"><tspan font-style="italic">y</tspan></text>
<line x1="466.666667" y1="558.533333" x2="466.666667" y2="647.933333" />
<polygon stroke-width="0" fill="black"
 points="291.466667,650.333333 281.866667,647.933333
291.466667,645.533333" />
<line x1="466.666667" y1="647.933333" x2="284.065656" y2="647.933333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="3.733333" y="681.92176"
>(b) Plant with feedback from a full-order observer</text>
<polygon stroke-width="0" fill="black"
 points="29.866667,766.133333 39.466667,768.533333
29.866667,770.933333" />
<line x1="1.066667" y1="768.533333" x2="37.267677" y2="768.533333" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="19.167172" y="765.866667"
><tspan font-style="italic">E<tspan font-size="70%"
dy="0.66ex" dx="">1</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan></tspan></text>
<circle cx="51.466667" cy="768.533333" r="12" />
<line x1="42.981385" y1="760.048052" x2="59.951948" y2="777.018615" />
<line x1="42.981385" y1="777.018615" x2="59.951948" y2="760.048052" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="51.466667" y="766.173333"><tspan font-style="italic"></tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="51.466667" y="780.573333"><tspan font-style="italic">-</tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="58.666667" y="773.373333"><tspan font-style="italic"></tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="44.266667" y="773.373333"><tspan font-style="italic">+</tspan></text>
<polygon stroke-width="0" fill="black"
 points="73.066667,766.133333 82.666667,768.533333
73.066667,770.933333" />
<line x1="63.466667" y1="768.533333" x2="80.467677" y2="768.533333" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="71.967172" y="765.866667">&#949;</text>
<rect x="82.666667" y="749.333333" width="38.4" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="101.866667" y="773.373333"
><tspan font-style="italic">H</tspan><tspan font-size="70%"
dy="0.66ex" dx="">1</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan></text>
<polygon stroke-width="0" fill="black"
 points="130.666667,766.133333 140.266667,768.533333
130.666667,770.933333" />
<line x1="121.066667" y1="768.533333" x2="138.067677" y2="768.533333" />
<rect x="140.266667" y="749.333333" width="38.4" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="159.466667" y="773.373333"
><tspan font-style="italic">H</tspan><tspan font-size="70%"
dy="0.66ex" dx="">2</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan></text>
<polygon stroke-width="0" fill="black"
 points="188.266667,766.133333 197.866667,768.533333
188.266667,770.933333" />
<line x1="178.666667" y1="768.533333" x2="195.667677" y2="768.533333" />
<circle cx="209.866667" cy="768.533333" r="12" />
<line x1="201.381385" y1="760.048052" x2="218.351948" y2="777.018615" />
<line x1="201.381385" y1="777.018615" x2="218.351948" y2="760.048052" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="209.866667" y="766.173333"><tspan font-style="italic">-</tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="209.866667" y="780.573333"><tspan font-style="italic"></tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="217.066667" y="773.373333"><tspan font-style="italic"></tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="202.666667" y="773.373333"><tspan font-style="italic">+</tspan></text>
<polygon stroke-width="0" fill="black"
 points="231.466667,766.133333 241.066667,768.533333
231.466667,770.933333" />
<line x1="221.866667" y1="768.533333" x2="238.867677" y2="768.533333" />
<rect x="241.066667" y="749.333333" width="38.4" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="260.266667" y="773.373333"
><tspan font-style="italic">H</tspan><tspan font-size="70%"
dy="0.66ex" dx="">3</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan></text>
<polygon stroke-width="0" fill="black"
 points="289.066667,766.133333 298.666667,768.533333
289.066667,770.933333" />
<line x1="279.466667" y1="768.533333" x2="296.467677" y2="768.533333" />
<rect x="298.666667" y="749.333333" width="38.4" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="317.866667" y="773.373333"
><tspan font-style="italic">H</tspan><tspan font-size="70%"
dy="0.66ex" dx="">4</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan></text>
<line x1="337.066667" y1="768.533333" x2="356.266667" y2="768.533333" />
<polygon stroke-width="0" fill="black"
 points="365.866667,766.133333 375.466667,768.533333
365.866667,770.933333" />
<line x1="356.266667" y1="768.533333" x2="373.267677" y2="768.533333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="375.466667" y="765.866667"
><tspan font-style="italic">S</tspan><tspan font-size="70%"
dy="0.66ex" dx="">1</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan></text>
<rect x="269.866667" y="691.733333" width="38.4" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="289.066667" y="715.773333"
><tspan font-style="italic">R</tspan><tspan font-size="70%"
dy="0.66ex" dx="">1</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan></text>
<polygon stroke-width="0" fill="black"
 points="317.866667,713.333333 308.266667,710.933333
317.866667,708.533333" />
<polyline points="356.266667,768.533333 356.266667,710.933333
310.465656,710.933333" />
<polygon stroke-width="0" fill="black"
 points="212.266667,746.933333 209.866667,756.533333
207.466667,746.933333" />
<polyline points="269.866667,710.933333 209.866667,710.933333
209.866667,754.334344" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="212.533333" y="742.173333"
><tspan font-style="italic">n</tspan><tspan font-size="70%"
dy="0.66ex" dx="">1</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan></text>
<rect x="179.866667" y="806.933333" width="38.4" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="199.066667" y="830.973333"
><tspan font-style="italic">R</tspan><tspan font-size="70%"
dy="0.66ex" dx="">2</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan></text>
<polygon stroke-width="0" fill="black"
 points="170.266667,828.533333 160.666667,826.133333
170.266667,823.733333" />
<line x1="179.866667" y1="826.133333" x2="162.865656" y2="826.133333" />
<rect x="122.266667" y="806.933333" width="38.4" height="38.4" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="141.466667" y="830.973333"
><tspan font-style="italic">R</tspan><tspan font-size="70%"
dy="0.66ex" dx="">3</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan></text>
<polygon stroke-width="0" fill="black"
 points="227.866667,828.533333 218.266667,826.133333
227.866667,823.733333" />
<polyline points="289.066667,768.533333 289.066667,826.133333
220.465656,826.133333" />
<polygon stroke-width="0" fill="black"
 points="49.066667,790.133333 51.466667,780.533333
53.866667,790.133333" />
<polyline points="122.266667,826.133333 51.466667,826.133333
51.466667,782.732323" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="54.133333" y="804.573333"
><tspan font-style="italic">n</tspan><tspan font-size="70%"
dy="0.66ex" dx="">2</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan></text>
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="3.733333" y="864.32176">(c) A multiblock example</text>
<rect x="19.066667" y="892.133333" width="64.8" height="36" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="51.466667" y="907.64">reference</text>
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="51.466667" y="922.306667"><tspan font-style="italic">R</tspan></text>
<polygon stroke-width="0" fill="black"
 points="125.466667,907.733333 135.066667,910.133333
125.466667,912.533333" />
<line x1="83.866667" y1="910.133333" x2="132.867677" y2="910.133333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="109.466667" y="904.24"
><tspan font-style="italic">y</tspan><tspan font-size="70%"
dy="0.66ex" dx="">c</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan>[ref]</text>
<rect x="135.066667" y="892.133333" width="64.8" height="36" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="167.466667" y="907.64">"inverse"</text>
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="167.466667" y="922.306667">of <tspan font-style="italic">G</tspan></text>
<polygon stroke-width="0" fill="black"
 points="169.866667,966.533333 167.466667,976.133333
165.066667,966.533333" />
<line x1="167.466667" y1="928.133333" x2="167.466667" y2="973.934344" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" text-anchor="start"
 x="170.133333" y="955.873838"
><tspan font-style="italic">y</tspan><tspan font-size="70%"
dy="0.66ex" dx="">m</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan>[ref]</text>
<circle cx="167.466667" cy="988.133333" r="12" />
<polygon stroke-width="0" fill="black"
 points="208.266667,985.733333 217.866667,988.133333
208.266667,990.533333" />
<line x1="179.466667" y1="988.133333" x2="215.667677" y2="988.133333" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="197.567172" y="985.466667"><tspan font-style="italic">e</tspan></text>
<rect x="217.866667" y="970.133333" width="64.8" height="36" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="250.266667" y="985.64">stabilizer</text>
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="250.266667" y="1000.306667"><tspan font-style="italic">K</tspan></text>
<polygon stroke-width="0" fill="black"
 points="311.466667,985.733333 321.066667,988.133333
311.466667,990.533333" />
<line x1="282.666667" y1="988.133333" x2="318.867677" y2="988.133333" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="300.767172" y="985.466667">&#948;u</text>
<circle cx="333.066667" cy="988.133333" r="12" />
<line x1="199.866667" y1="910.133333" x2="333.066667" y2="910.133333" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="266.466667" y="907.466667"
><tspan font-style="italic">u</tspan>[ref]</text>
<polygon stroke-width="0" fill="black"
 points="335.466667,966.533333 333.066667,976.133333
330.666667,966.533333" />
<line x1="333.066667" y1="910.133333" x2="333.066667" y2="973.934344" />
<polygon stroke-width="0" fill="black"
 points="373.866667,985.733333 383.466667,988.133333
373.866667,990.533333" />
<line x1="345.066667" y1="988.133333" x2="381.267677" y2="988.133333" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="363.167172" y="985.466667"><tspan font-style="italic">u</tspan></text>
<rect x="383.466667" y="970.133333" width="64.8" height="36" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="415.866667" y="985.64">plant</text>
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="415.866667" y="1000.306667"><tspan font-style="italic">G</tspan></text>
<polygon stroke-width="0" fill="black"
 points="418.266667,960.533333 415.866667,970.133333
413.466667,960.533333" />
<line x1="415.866667" y1="967.934344" x2="415.866667" y2="952.133333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="415.866667" y="949.466667"
>disturbance <tspan font-style="italic">z</tspan></text>
<polygon stroke-width="0" fill="black"
 points="477.066667,976.733333 486.666667,979.133333
477.066667,981.533333" />
<line x1="448.266667" y1="979.133333" x2="484.467677" y2="979.133333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="489.333333" y="983.973333"
><tspan font-style="italic">y</tspan><tspan font-size="70%"
dy="0.66ex" dx="">c</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan></text>
<polygon stroke-width="0" fill="black"
 points="477.066667,994.733333 486.666667,997.133333
477.066667,999.533333" />
<line x1="448.266667" y1="997.133333" x2="484.467677" y2="997.133333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="489.333333" y="1001.973333"
><tspan font-style="italic">y</tspan><tspan font-size="70%"
dy="0.66ex" dx="">m</tspan><tspan
font-size="70%" dy="-0.66ex"
dx="-0.5ex"> </tspan></text>
<polygon stroke-width="0" fill="black"
 points="165.066667,1009.733333 167.466667,1000.133333
169.866667,1009.733333" />
<polyline points="467.466667,997.133333 467.466667,1030.133333
167.466667,1030.133333
167.466667,1002.332323" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="end"
 x="164.8" y="1012.48"><tspan font-style="italic">-</tspan></text>
<polygon stroke-width="0" fill="black"
 points="49.066667,937.733333 51.466667,928.133333
53.866667,937.733333" />
<line x1="51.466667" y1="930.332323" x2="51.466667" y2="976.133333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 x="51.466667" y="990.573333"
><tspan font-style="italic">W</tspan> control input</text>
<polyline stroke-dasharray="5.6,4"
 points="1.066667,874.133333 354.666667,874.133333
354.666667,1060.133333" />
<line stroke-dasharray="5.6,4"
 x1="354.666667" y1="1060.133333" x2="135.066667" y2="1060.133333" />
<text font-size="11pt" stroke-width="0.2pt" fill="black" x="244.866667" y="1057.466667">Controller</text>
<line stroke-dasharray="5.6,4"
 x1="135.066667" y1="1060.133333" x2="135.066667" y2="946.133333" />
<polyline stroke-dasharray="5.6,4"
 points="135.066667,946.133333 1.066667,946.133333
1.066667,874.133333" />
<text font-size="11pt" stroke-width="0.266667"
 fill="black"
 text-anchor="start"
 x="3.733333" y="1079.12176"
>(d) Nonlinear feedforward (for performance) and small-signal feedback
(for stability)</text>
</g>
</g></svg>