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+.PS
+# Highgain+.m4
+sinclude(tst.dim)
+s_init(Highgain)
+darrow_init
+
+fillval = 0.8
+circlerad = 0.35/2
+linewid = linewid*3/4
+
+command "
+\newcommand{\Ds}{D(s)}
+\newcommand{\Gs}{G(s)}
+\newcommand{\Hs}{H(s)}
+\newcommand{\Ms}{M(s)}
+\newcommand{\Ns}{N(s)}
+\newcommand{\Ps}{P(s)}
+\newcommand{\Qs}{Q(s)}
+\newcommand{\Rs}{R(s)}
+\newcommand{\Ss}{S(s)}
+\newcommand{\Us}{U(s)}
+\newcommand{\Ys}{Y(s)}
+\newcommand{\Xs}{X(s)}
+\newcommand {\mat}[1]{\left[\matrix{#1}\right]}
+\newcommand {\adj}{\mathop{\hbox{adj}}\nolimits}
+\newcommand {\coldim}{\mathop{\hbox{col dim}}\nolimits}
+\newcommand {\colrank}{\mathop{\hbox{column rank}}\nolimits}
+\newcommand {\column}{\mathop{\hbox{column}}\nolimits}
+\newcommand {\diag}{\mathop{\hbox{diag}}\nolimits}
+\newcommand {\trace}{\mathop{\hbox{trace}}\nolimits}
+\newcommand {\image}{\mathop{\hbox{image}}\nolimits}
+\newcommand {\kernel}{\mathop{\hbox{kernel}}\nolimits}
+\newcommand {\opsim}[1]{\mathinner{\raise-.5ex\hbox{\scriptsize #1}\atop%
+ \raise1.5ex\hbox{$\sim$}}}
+\newcommand {\order}{\mathop{\hbox{order}}\nolimits}
+\newcommand {\rank}{\mathop{\hbox{rank}}\nolimits}
+\newcommand {\rowdim}{\mathop{\hbox{row dim}}\nolimits}
+\newcommand {\rowimage}{\mathop{\hbox{row image}}\nolimits}
+\newcommand {\row}{\mathop{\hbox{row}}\nolimits}
+\newcommand {\rowrank}{\mathop{\hbox{row rank}}\nolimits}
+\newcommand {\zeros}{\mathop{\hbox{zeros}}\nolimits}
+"
+
+define(`vectorsize',
+ `{"$\phantom{\displaystyle `$1'}%
+ \atop{{\displaystyle /}\atop{\displaystyle `$1'}}$"\
+ `$2' }')
+
+[
+R: darrow(right linewid,,,,,,|-)
+ { s_box($R$) dabove(at R.start+(5pt__,0)) }
+Sum: circle invis "$\sum$"
+ darrow(right_ linewid*5/4)
+ { s_box($E$) dabove(at last line) }
+ vectorsize(p,at 1/4 along_(last line))
+Gain: shadebox(box "$G = \diag\mat{g_i}$" wid boxwid*1.5 ht boxht*0.75 )
+ darrow(,,,,,,!-)
+ { s_box($U^{\prime}$) dabove(at last line) }
+Compensator: shadebox(box wid boxwid*1.5 "\sl Compensator" "$K(s)$")
+ darrow(right_ linewid*5/4,,,,,,!-)
+ vectorsize(m,at 1/4 along_(last line))
+ { s_box($U$) dabove(at last line) }
+Plant: shadebox(box "\sl Plant" "$H(s)$" )
+ dline(right_ linewid*3/4 from Plant.e,,,,!-)
+ vectorsize(p,at last line)
+Y: dtee(R)
+ {s_box($Y$) dabove}
+ darrow(right_ linewid*2/3,t)
+
+ dline(down boxht from Y,t)
+ dright
+ dline(to (Sum,Here),,t)
+ dright
+ darrow(to Sum.s)
+ "$-$" at Here+(0.10,-0.05)
+
+ circle at Sum
+]
+# blockbox(N)
+.PE