Microcontroller block diagram

The inner architecture of the μP isn't at all important.
A sensor polling scheme is well tailored for this application.
You should have outputs to all control points.
Take into account that the sensors are basically analog.
and that a poling scheme may use a pol-timer.
Hope you can complete from this point?

 

Something like that.
Notes:
1. Each "sensor input " may have it's own resolution (translated to number of bits) and speed of change.
2. The output of a ADC may be parallel or serial.
3. It may be possible to use just a single ADC and multiplex the sensor inputs to it
4. Input from the sensors may need to be condition/amplified etc.
5. Not every actuator need an output DAC some most probably need to be just on-off.
6. Most actuator will require drivers,the DAC or output of the μP will not be able to drive them directly.
7. You probably need to show just the CPU itself in a block and the memory types,timers,etc. in separate blocks

 

Yes, and show the input mux select bits and output drivers connected to the i/o block.
Add a timer/counter .
Omit the the pic number-it is a general solution not tight to a specific one μC/μP