\begin{tikzpicture}[
    auto,
    node distance=1.5cm,
    block/.style={draw, fill=blue!5, rectangle, minimum height=1.2cm, minimum width=2.2cm, align=center, thick},
    block_ctrl/.style={draw, fill=green!5, rectangle, minimum height=1.2cm, minimum width=2.2cm, align=center, thick},
    sum/.style={draw, circle, minimum size=0.5cm, thick},
    arrow/.style={-Stealth, thick},
    dot/.style={fill, circle, minimum size=3pt, inner sep=0pt},
    every node/.style={font=\small}
]

    % --- Nós ---
    \node (input) {};
    \node [sum, right=0.8cm of input] (sum) {};
    \node [block_ctrl, right=of sum] (controller) {Controlador};
    \node [block, right=of controller] (interpolator) {Interpolador};
    \node [block, right=1.5cm of interpolator] (plant) {Planta};
    \node [right=1.2cm of plant] (output) {};

    % --- Caminho Direto ---
    \draw [arrow] (input) -- node {$r(nT_s)$} (sum);
    \draw (sum.north east) -- (sum.south west); 
    \draw (sum.north west) -- (sum.south east);
    
    \draw [arrow] (sum) -- node {$e(nT_s)$} (controller);
    \draw [arrow] (controller) -- node {$u(nT_s)$} (interpolator);
    \draw [arrow] (interpolator) -- node {$\bar{u}(t)$} (plant);
    \draw [arrow] (plant) -- node [pos=0.6] (c_node) {$y(t)$} (output);

    % --- Realimentação ---
    \node [dot] at ($(plant.east)!0.5!(output)$) (branch) {};
    
    % Desce da ramificação
    \draw [thick] (branch) |- ++(0,-1.5) coordinate (corner);
    % Linha horizontal até a chave
    \draw [thick] (corner) -- ++(-1.2,0) coordinate (sampler_tip);
    
    % Chave (amostrador) com T_s (sem a seta curva)
    \draw [thick] (sampler_tip) -- ++(-0.5,0.4) node[above left] {$T_s$};
    
    % O fechamento:
    \draw [arrow] ($(sampler_tip)+(-0.6,0)$) -| (sum.south) 
        node[pos=0.9, left] {\textbf{--}};

    % --- Containers (Medidas Originais) ---
    \draw [dashed, thick] ($(sum.north west)+(-1.0,0.9)$) rectangle ($(interpolator.south east)+(0.35,-1.5)$);
    \draw [dotted, thick] ($(controller.north east)+(1.25,0.49)$) -- ($(controller.south east)+(1.25,-1.5)$);

    % Rótulos
    \node [anchor=south west] at ($(sum.north west)+(-0.8,-2.3)$) {\textbf{Computador}};
    \node [anchor=north west] at ($(controller.south east)+(1.7,-0.95)$) {\textbf{Interface}};

\end{tikzpicture}