graph LR subgraph "Система с входами v₁(t), v₂(t) и выходом y(t)" v1[v₁(t)] --> Mult1["×(b₁/a₀)"] --> Sum1((Σ)) v2[v₂(t)] --> Diff["d/dt"] --> Mult2["×(k/c₀)"] --> Sum2((Σ)) Sum1 --> Int1["∫"] --> Int2["∫"] --> Int3["∫"] --> y[y(t)] Sum2 --> Int4["∫"] --> Int5["∫"] --> y Int3 --> FB1["×((b₀-a₁)/a₀)"] --> Sum1 Int5 --> FB2["×(c₁/c₀)"] --> Sum2 Int5 --> FB3["×(-c₂/c₀)"] --> Sum2 end