Tikz - Control Diagram

\begin{tikzpicture}
  \node[addb={+}{}{}{}{-}] (addfb) at (0, 0){};
  \node[block, right=1 of addfb] (K){$K$};
  \node[addb={+}{}{}{}{}, right=1 of K] (adddu){};
  \node[block, right=1 of adddu] (G){$G$};
  \node[addb={+}{}{}{}{}, right=1 of G] (adddy){};
  \node[addb={+}{}{}{}{-}, above right=1 and 1 of adddy] (adderror) {};
  \node[addb={+}{}{}{}{}, below right=1 and 1 of adddy] (addn) {};

  \draw[->] (addfb.east) -- (K.west) node[above left]{$\epsilon_{m}$};
  \draw[->] (K.east) -- (adddu.west);
  \draw[->] (adddu.east) -- (G.west) node[above left]{$u$};
  \draw[->] (adderror.east) -- ++(0.8, 0) coordinate[](endpos) node[above left]{$\epsilon$};
  \draw[->] (G.east) -- (adddy.west);
  \draw[->] (adddy.east) -- (G-|endpos) node[above left]{$y$};
  \draw[<-] (addfb.west) -- ++(-1, 0) node[above right]{$r$};
  \draw[->] (G-|adderror) node[branch]{} -- (addn.north);
  \draw[<-] (addn.east) -- (addn-|endpos) node[above left]{$n$};
  \draw[->] (G-|adderror) -- (adderror.south);
  \draw[->] ($(addfb.west)+(-0.3, 0)$) node[branch]{} |- (adderror.west);
  \draw[->] (addn.west) -| (addfb.south) node[below right]{$y_m$};
  \draw[<-] (adddu.north) -- ++(0, 0.8) node[below right]{$d_u$};
  \draw[<-] (adddy.north) -- ++(0, 0.8) node[below right]{$d_u$};
\end{tikzpicture}

\begin{tikzpicture}
  \node[block={1cm}{1.5cm}] (K) {$K$};
  \node[block, right=1 of K] (G) {$G$};
  \node[addb, right=1 of G] (addy) {};
  \node[addb, below right=0.7 and 1 of addy] (addn) {};

  % Inputs of the controllers
  \coordinate[] (inputr) at ($(K.south west)!0.75!(K.north west)$);
  \coordinate[] (inputy) at ($(K.south west)!0.25!(K.north west)$);

  % Connections and labels
  \draw[<-] (inputr) -- ++(-0.8, 0) node[above right]{$r$};
  \draw[->] (K.east) -- (G.west) node[above left]{$u$};
  \draw[->] (G.east) -- (addy.west);
  \draw[->] (addn.west) -| ($(inputy) - (0.8, 0)$) -- (inputy) node[above left]{$y_m$};
  \draw[->] (addy.east) -| (addn.north) node[above right]{$y$};
  \draw[<-] (addy.north) -- ++(0, 0.8) node[below right]{$d$};
  \draw[<-] (addn.east) -- ++(0.8, 0) node[above left]{$n$};
\end{tikzpicture}

\begin{tikzpicture}
  \node[addb={+}{}{}{}{-}] (addfb) {};
  \node[block, right=1 of addfb] (K) {$K$};
  \node[DAC, right=1 of K] (DAC) {DAC};
  \node[block, right=1 of DAC] (G) {$G$};
  \node[addb, right=1 of G] (addy) {};
  \node[addb, below right=1 of addy] (addn) {};
  \node[ADC, left=1 of addn] (ADC) {ADC};

  % Connections and labels
  \draw[->] (K.east) -- node[sloped]{$/$}(DAC.west);
  \draw[->] (DAC.east) -- (G.west) node[above left]{$u$};
  \draw[->] (G.east) -- (addy.west);
  \draw[->] (addy.east) -| (addn.north) node[above right]{$y$};
  \draw[<-] (addy.north) -- ++(0, 0.8) node[below right]{$d$};
  \draw[<-] (addn.east) -- ++(0.8, 0) node[above left]{$n$};
  \draw[->] (addn.west) -- (ADC.east);
  \draw[->] (ADC.west) -| node[near start, sloped]{$/$} (addfb.south) node[below right]{$y_m$};
  \draw[->] (addfb.east) -- node[sloped]{$/$} (K.west) node[above left]{$\epsilon_m$};
  \draw[<-] (addfb.west) -- node[sloped]{$/$} ++(-1, 0) node[above right]{$r$};
\end{tikzpicture}

\begin{tikzpicture}
  \node[block={2.0cm}{2.0cm}] (P) {$P$};

  % Input and outputs coordinates
  \coordinate[] (inputw)  at ($(P.south west)!0.75!(P.north west)$);
  \coordinate[] (inputu)  at ($(P.south west)!0.25!(P.north west)$);
  \coordinate[] (outputz) at ($(P.south east)!0.75!(P.north east)$);
  \coordinate[] (outputv) at ($(P.south east)!0.25!(P.north east)$);

  % Connections and labels
  \draw[<-] (inputw) -- ++(-0.8, 0) node[above right]{$w$};
  \draw[<-] (inputu) -- ++(-0.8, 0) node[above right]{$u$};

  \draw[->] (outputz) -- ++(0.8, 0) node[above left]{$z$};
  \draw[->] (outputv) -- ++(0.8, 0) node[above left]{$v$};
\end{tikzpicture}

\begin{tikzpicture}

  % Blocs
  \node[block={2.0cm}{2.0cm}] (P) {$P$};
  \node[block={1.5cm}{1.5cm}, below=0.7 of P] (K) {$K$};

  % Input and outputs coordinates
  \coordinate[] (inputw)  at ($(P.south west)!0.75!(P.north west)$);
  \coordinate[] (inputu)  at ($(P.south west)!0.25!(P.north west)$);
  \coordinate[] (outputz) at ($(P.south east)!0.75!(P.north east)$);
  \coordinate[] (outputv) at ($(P.south east)!0.25!(P.north east)$);

  % Connections and labels
  \draw[<-] (inputw) node[above left]{$w$} -- ++(-0.8, 0);
  \draw[<-] (inputu) node[above left]{$u$} -- ++(-0.8, 0) |- (K.west);

  \draw[->] (outputz) node[above right]{$z$} -- ++(0.8, 0);
  \draw[->] (outputv) node[above right]{$v$} -- ++(0.8, 0) |- (K.east);
\end{tikzpicture}

\begin{tikzpicture}
  % Blocs
  \node[block] (G) {$G$};

  \node[addb, right=1 of G] (addy) {};
  \node[block, above=0.5 of addy] (Gd) {$G_d$};

  \node[addb, right=1 of addy] (addn) {};

  % Inputs
  \coordinate[above left=2.2 and 1.2 of G] (d);
  \coordinate[above=1 of d] (n);
  % Outputs
  \coordinate[above right=2.2 and 1.2 of addn] (y);
  \coordinate[above=1 of y] (F);

  \coordinate (u) at (n|-G);
  \coordinate (v) at (F|-G);

  \node[fit={($(n) + (0.5, 0.2)$) ($(v|-G.south) - (0.5, 0.2)$)}, inner sep=0pt, draw, dashed, color=gray, label={Generalized Plant}] (P) {};

  \node[draw, block, below=1 of P] (K) {$K$};


  % Connections
  \draw[->] (G.east) -- (addy.west);
  \draw[->] (addy.east) -- (addn.west);
  \draw[->] (Gd.south) -- (addy.north);
  \draw[<-] (addn.north) -- ++(0, 0.5);

  \draw[->] (d) -| (Gd.north);
  \draw[->] (n) -| (addn.north);

  \draw[->] ($(addn.west) + (-0.4, 0)$) |- (y);
  \draw[->] ($(G.west)    + (-0.4, 0)$) |- (F);

  \draw[->] (addn.east) -- (v) |- (K.east);

  \draw[->] (K.west) -| (u) -- (G.west);

  % Labels
  \node[above right] (un) at (u) {$u$};
  \node[above left] (vn) at (v) {$v$};
  \node[above right] (dn) at (d) {$d$};
  \node[above right] (nn) at (n) {$n$};
  \node[above left] (yn) at (y) {$y$};
  \node[above left] (Fn) at (F) {$u$};

  \draw [decoration={brace, raise=7pt}, decorate] (dn.south west) -- node[left=8pt]{$w$} (nn.north west);
  \draw [decoration={brace, mirror, raise=5pt}, decorate] (yn.south east) -- node[right=6pt]{$z$} (Fn.north east);
\end{tikzpicture}

\begin{tikzpicture}
  % Blocs
  \node[block={2.0cm}{2.0cm}] (P) {$\tilde{P}$};
  \node[block={1.5cm}{1.5cm}, below=0.7 of P] (K) {$K$};

  % Input and outputs coordinates
  \coordinate[] (inputw)  at ($(P.south west)!0.75!(P.north west)$);
  \coordinate[] (inputu)  at ($(P.south west)!0.25!(P.north west)$);
  \coordinate[] (outputz) at ($(P.south east)!0.75!(P.north east)$);
  \coordinate[] (outputv) at ($(P.south east)!0.25!(P.north east)$);

  % Weights
  \node[block, right=0.7 of outputz] (Wz) {$W_z$};
  \node[block, left =0.7 of inputw]  (Ww) {$W_w$};

  % Connections and labels
  \draw[<-] (Ww.west) -- ++(-1, 0) node[above right](w){$w$};
  \draw[->] (Ww.east) -- (inputw) node[above left]{$\tilde{w}$};
  \draw[<-] (inputu) -- (w|-inputu) node[above]{$u$} |- (K.west);

  \draw[->] (outputz) -- (Wz.west) node[above left]{$\tilde{z}$};
  \draw[->] (Wz.east) -- ++(1, 0) node[above left](z){$z$};
  \draw[->] (outputv) -- (z|-outputv) node[above](v){$v$} |- (K.east);

  % Weighted plant
  \node[fit={($(Ww.north west) + (-0.4, 0.2)$) ($(Wz.east|-P.south) + (0.4, -0.2)$)}, inner sep=0pt, draw, dashed, color=gray, label={Generalized Weighted Plant $P$}] (P) {};
\end{tikzpicture}

\begin{tikzpicture}
  % Blocs
  \node[block] (G) {$G$};

  \node[addb, right=1 of G] (addy) {};
  \node[block, above=0.5 of addy] (Gd) {$G_d$};

  \node[block, above=2.0 of G] (Wd) {$W_d$};
  \node[block, above=0.5 of Wd] (Wn) {$W_n$};

  \node[addb, right=1 of addy] (addn) {};

  \node[block, above right=1.5 and 0.2 of addn] (Wu) {${W_u}^{-1}$};
  \node[block, above=0.5 of Wu] (We) {${W_e}^{-1}$};

  % Inputs
  \coordinate[left=1.2 of Wd] (d);
  \coordinate[left=1.2 of Wn] (n);

  % Outputs
  \coordinate[right=1.2 of We] (y);
  \coordinate[right=1.2 of Wu] (F);

  \coordinate (u) at (n|-G);
  \coordinate (v) at (F|-G);

  \node[fit={($(n) + (0, 0.5) + (0.5, 0.2)$) ($(v|-G.south) - (0.5, 0.2)$)}, inner sep=0pt, draw, dashed, color=gray, label={Generalized Weighted Plant $P$}] (P) {};

  \node[block={1.5cm}{1.5cm}, below=0.7 of P] (K) {$K$};


  % Connections
  \draw[->] (G.east) -- (addy.west);
  \draw[->] (addy.east) -- (addn.west);
  \draw[->] (Gd.south) -- (addy.north);
  \draw[<-] (addn.north) -- ++(0, 0.5);

  \draw[->] (d) -- (Wd.west);
  \draw[->] (Wd.east) node[above right]{$\tilde{d}$} -| (Gd.north);
  \draw[->] (n) -- (Wn.west);
  \draw[->] (Wn.east) node[above right]{$\tilde{n}$} -| (addn.north);

  \draw[->] ($(addn.west) + (-0.4, 0)$) node[branch]{} |- (We.west) node[above left]{$\tilde{y}$};
  \draw[->] ($(G.west)    + (-0.4, 0)$) node[branch]{} |- (Wu.west) node[above left]{$\tilde{u}$};
  \draw[->] (We.east) -- (y);
  \draw[->] (Wu) -- (F);

  \draw[->] (addn.east) -- (v) |- (K.east);
  \draw[->] (K.west) -| (u) -- (G.west);

  % Labels
  \node[above right] (un) at (u) {$u$};
  \node[above left] (vn) at (v) {$v$};
  \node[above right] (dn) at (d) {$d$};
  \node[above right] (nn) at (n) {$n$};
  \node[above left] (yn) at (y) {$y$};
  \node[above left] (Fn) at (F) {$u$};

  % W and Z brackets
  \draw [decoration={brace, raise=7pt}, decorate] (dn.south west) -- node[left=8pt]{$w$} (nn.north west);
  \draw [decoration={brace, raise=5pt}, decorate] (yn.north east) -- node[right=6pt]{$z$} (Fn.south east);
\end{tikzpicture}

\begin{tikzpicture}
  % Blocs
  \node[block] (KP) {$K_P$};
  \node[block, above=0.7 of KP] (KD) {$K_D$};
  \node[block, below=0.7 of KP] (KI) {$K_I$};

  \node[block, right=1 of KD] (deriv) {$\frac{d\hphantom{t}}{dt}$};
  \node[block, right=1 of KI] (int)   {$\int$};

  \node[addb, right=2.5 of KP] (add) {};

  \node[branch, left=1 of KP] (connect) {};

  % Connections and labels
  \draw[->] (KD.east) -- (deriv);
  \draw[->] (KI.east) -- (int);

  \draw[->] (deriv) -| (add);
  \draw[->] (KP)    -- (add);
  \draw[->] (int)   -| (add);

  \draw[->] (connect) |- (KD);
  \draw[->] (connect) -- (KP);
  \draw[->] (connect) |- (KI);

  \draw[->] (add.east) -- ++(0.8, 0) node[above left]{$u$};
  \draw[] (connect.west) -- ++(-0.8, 0) node[above right]{$\epsilon$};
\end{tikzpicture}