به عنوان مثال اینجا لیبل کار نمیکنه.
\documentclass{article}
\usepackage{tikz}
\begin{document}
\hspace{-3cm}
\begin{figure}
\label{test}
\begin{tikzpicture}
  [auto,every node/.style={rectangle,draw, text centered, text width=2cm,minimum height=1.5cm,rounded corners=2pt, },grow=right]
\tikzset{%
level 1/.style={sibling distance = 9.8cm, level distance=3.5cm,edge from parent path={(\tikzparentnode.east) -- (\tikzchildnode.west)}},
level 2/.style={sibling distance = 1.6cm,level distance=3.5cm}
}
  \node(0) {Robot Control}
    child {node (1) {Classic Method}
              child {node(2) {Impedance Control}}
              child {node {PID Control}}
              child {node {PD Plus Gravity}}
              child {node {Computed Torque Method}}}
    child {node {Modern Method}
              child {node {Optimal Control}
                          child {node at(0,-2) {Nonlinear}
                                      child {node{Interpolation of TPBVP}}
                                      child {node{SGA}}
                                      child {node{\Large \bfseries {SDRE}}}
                                      child {node{PSA}}
                                      child {node{HJB}}}
                          child {node at(0,2) {Linear}
                   child {node at(0,0.1){LQR}}
                   child {node at(0,0.4){LQG}}}}
              child {node {Fuzzy Control}}
              child {node {Robust Control}}
              child {node {Gain Scheduling}}
              child {node {Sliding Mode}}
              child {node {Adaptive Control}}
              child {node {Neural Network}}
              child {node {Feedback Linearization}}};
\end{tikzpicture}
\label{test}
\end{figure}
\end{document}
توسط 
salman
(9 امتیاز)