\tikzset{block/.default={0.8cm}{0.6cm}}
\tikzset{addb/.append style={scale=0.7}}
\tikzset{node distance=0.6}
\def\cdist{0.7}

\definecolor{T}{rgb}{0.230, 0.299, 0.754}%
\definecolor{S}{rgb}{0.706, 0.016, 0.150}%
\begin{tikzpicture}
  % ====================
  % Parameters
  % ====================
  \def\massw{2.2}  % Width of the masses
  \def\massh{0.8}  % Height of the masses
  \def\spaceh{1.2} % Height of the springs/dampers
  \def\dispw{0.3}  % Width of the dashed line for the displacement
  \def\disph{0.5}  % Height of the arrow for the displacements
  \def\bracs{0.05} % Brace spacing vertically
  \def\brach{-10pt} % Brace shift horizontaly
  % ====================


  % ====================
  % Ground
  % ====================
  \draw (-0.5*\massw, 0) -- (0.5*\massw, 0);
  \draw[dashed] (0.5*\massw, 0) -- ++(\dispw, 0);
  \draw[->] (0.5*\massw+0.5*\dispw, 0) -- ++(0, \disph) node[below right]{$w$};
  % ====================

  \begin{scope}[shift={(0, 0)}]
    % Mass
    \draw[fill=white] (-0.5*\massw, \spaceh) rectangle (0.5*\massw, \spaceh+\massh) node[pos=0.5]{$m$};

    % Spring, Damper, and Actuator
    \draw[spring] (-0.4*\massw, 0) -- (-0.4*\massw, \spaceh) node[midway, left=0.1]{$k$};
    \draw[damper] (0, 0)           -- ( 0, \spaceh)          node[midway, left=0.2]{$c$};
    \draw[actuator] ( 0.4*\massw, 0) -- (	0.4*\massw, \spaceh) coordinate[midway, right=0.15](F);

    % Displacements
    \draw[dashed] (0.5*\massw, \spaceh) -- ++(\dispw, 0);
    \draw[->] (0.5*\massw+0.5*\dispw, \spaceh) -- ++(0, \disph) node[right](x){$x$};
  \end{scope}

  \node[block, right=1 of F] (Kfb) {$K$};
  \node[addb={+}{}{-}{}{}, right=2*\cdist of Kfb] (add) {};
  \node[addb] (addn) at (x-|Kfb) {};
  \node[block, right=of addn] (Hl) {$H_L$};

  \draw[->] (x) -- (addn.west);
  \draw[->] (addn.east) -- (Hl.west);
  \draw[->] (Hl.east) -| (add.north);
  \draw[->] (add.west) -- (Kfb.east);
  \draw[->] (Kfb.west) -- (F) node[above right]{$F$};
  \draw[<-] (addn.north) -- ++(0,\cdist) node[below right]{$n$};
  \draw[<-] (add.east) -- ++(\cdist,0) node[above left]{$r$};
\end{tikzpicture}
