Example of a block diagram
To clarify the steps, a block diagram is constructed for the system (7.1), i.e.
 The highest state derivatives is
.
 Integrating this state once, we obtain
. Integration of
yields
. This is shown in the figure below. In this figure,
is represented by ddx and
by dx.
 Substitution of
,
and
and rewriting (7.1), yields an expression for
:

(7.3) 
To transform (7.3) into a block diagram, we use two summation blocks:
This block is coupled to the blocks obtained in step 2:
 With the use of gain blocks, we can compute
and
, such that a full block diagram is obtained:
Note, that we consider
to be an output and
to be an input.
Esteur
20100322