\begin{center}
\begin{texdraw}
\centering 
\drawdim in \linewd 0.015 \setunitscale 1
\arrowheadsize l:0.11 w:0.05 \arrowheadtype t:F

\move(0 0)
\ravec(0.75 0) \tbox{$\mathscr{SP}$} \ravec(0.75 0) 
\tbox{$\mathscr{FP}$}  \ravec(1.5 0) 
\tbox{$\mathscr{FS}$}  \ravec(0.75 0)
\rlvec(0 -1.5) \ravec(-3 0) 
\rmove(-0.75 0) \tbox{$\mathscr{FE}$} \rmove(-0.75 0)
\rlvec(-1.125 0) \ravec(0 0.5) \rmove(+0.75 +0.99)
%\bulbox{$\centerdot$} 
\rlvec(0 -0.75) \ravec(-0.375 0)
\rmove(-0.75 0) \tbox{$\mathscr{SF}$} \rmove(-0.75 0)
\ravec(-0.75 0) \rlvec(0 +0.76)
\rmove(+2.625 -0.25) \ravec(0 -1)
\move(0 0.2) \forbox{$u(t_i)$}
\rmove(+0.75 0) \forbox{$y(t_i)$}
\rmove(+1.12 0) \forbox{$(d_{0},\cdots,d_{K})$}
\rmove(+1.12 0) \forbox{$\kappa$}
\move(2.9 -0.75) \forbox{$(\mathscr{F}_{0},\cdots , \mathscr{F}_{K})$}
\move(1.5 -1.3) \forbox{$\mathscr{F}_{\kappa}$}
\rmove(1.9 0) \forbox{$\kappa = \left\{ j \in\{0, \dots, K\}: \enspace       
  d_{j}(t_{\mathrm{a}})=0  \right\}   $}
\end{texdraw}
\end{center}

\noindent