How to create a controls system diagram?

Hello I would like to replicate this diagram:

but I can’t seem to get it. I was only able to get the top portion. I’m new to this so this took me awhile. Perhaps there are more efficient methods? Thank you.

    documentclass[11pt,twoside]{report}
    usepackage{graphicx}
    usepackage{tikz}
    usepackage{stix,graphicx}
    usetikzlibrary{shapes,arrows,positioning}
    usetikzlibrary{datavisualization}
    usetikzlibrary{datavisualization.formats.functions}
    usetikzlibrary{arrows.meta,calc,positioning,quotes}
    usetikzlibrary{arrows.meta,chains}
    usepackage{listings}

begin{figure}[!h]
centering
   begin{tikzpicture}[
node distance = 4mm and 6mm,
  start chain = going right,
  base/.style = {draw, fill=white},
 block/.style = {base, minimum height=2em, minimum width=3em},
   sum/.style = {base, circle, node contents={}},
   arr/.style = {ultra thick, -{Latex[length=5pt, width=6pt]}},
every edge/.style = {draw, -Latex},
                        ]
% We start by placing the blocks in chain
    begin{scope}[nodes={on chain}]
coordinate (in);
%node (n1)  [block]    {$K_p$};
node (n2)  [sum];
node (n3)  [block]  {$B$};
node (n4)  [sum];
node (n5)  [block]  {$1/s$};
coordinate (n6);
coordinate (n7);
node (n8) [block]     {$C$};
coordinate (out);
    end{scope}
%
path   (in) edge["$r$"]   (n2)
        %(n1) edge[near end,"+"] (n2)
        (n2) edge["$u$"]                    (n3)
        (n3) edge[arr,near end,"+"]         (n4)
        (n4) edge[arr,"$dot{mathbf{x}}$"] (n5)
        (n5) edge[arr,"$mathbf{x}$"]       (n8)
        (n8) edge[arr,"$mathbf{y}$"]       (out);
% Block in backloops
node (n11)  [block, below=of n5]  {$A$};
node (n12)  [block, below=of n11] {$K$};
%       
draw[arr]  (n6)  |- (n11);
draw[arr]  (n11) -| (n4) node[below right] {$+$};
draw[arr]  (n7)  |- (n12);
draw[-Latex]  (n12) -| (n2) node[below right] {$-$};
end{tikzpicture}
caption{Closed-loop control system with (u = boldsymbol{-Kx})} label{fig7}
end{figure}