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 ...