The unrolled loop still should not have the arrow between S and R, and should have the feedback, because the controller is sensing the outcome. Unrolled it should go: S1 → Z1, R1->Z1, Z1 → R2, R2 → Z2, S2-> Z2 …
The unrolled loop still should not have the arrow between S and R, and should have the feedback, because the controller is sensing the outcome. Unrolled it should go: S1 → Z1, R1->Z1, Z1 → R2, R2 → Z2, S2-> Z2 …