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\documentclass[ngerman]{scrartcl}
\usepackage[T1]{fontenc}
\usepackage{selinput}
\SelectInputMappings{
  adieresis={ä},
  germandbls={ß}
}
\usepackage[ngerman]{babel}
\usepackage{tikz}
\usetikzlibrary{arrows,automata}
\usepackage{mathtools}  % lädt »amsmath«

\begin{document}
  \begin{tikzpicture}[
    ->,
    >=stealth',
    shorten >=1pt,
    auto,
    node distance=2cm,
    state/.style=state with output
  ]
    \node[state](Z_0){
      $Z_0$
      \nodepart{lower}{
        \(
          \begin{aligned}
            y_l &= x_s, \\
            y_r &= 0
          \end{aligned}
        \)
      }
    };
    \node[state]at(10,0)(Z_1){
      $Z_1$
      \nodepart{lower}{
        \(
          \begin{aligned}
            y_l &= 0, \\
            y_r &= x_s
          \end{aligned}
        \)
      }
    };

    \path[every node/.style={font=\Large}]
      (Z_0) edge[bend left]  node {$x_l$}           (Z_1)
            edge[loop above] node{$\overline{x}_l$} (Z_0)
      (Z_1) edge[bend left]  node {$x_r$}           (Z_0)
            edge[loop above] node{$\overline{x}_r$} (Z_1);
  \end{tikzpicture}
\end{document}

\documentclass[11pt,fleqn]{scrartcl}

\usepackage[ngerman]{babel}
\usepackage{tikz}
\usepackage{circuitikz}
\usetikzlibrary{automata} 


\begin{document}
\begin{tikzpicture}[->,>=stealth',shorten >=1pt,auto,node distance=2cm,
state/.style=state with output]
\node[state](Z_0){$Z_0$\nodepart{lower}{$y_l=x_s$, $y_r=0$}};
\node[state]at(10,0)(Z_1){$Z_1$\nodepart{lower}{$y_l=0$, $y_r=x_s$}};

\path[every node/.style={font=\Large}]
(Z_0) 	edge[bend left] 	node {$x_l$} 			(Z_1)
		edge[loop above] 	node{$\overline{x_l}$}	(Z_0)
(Z_1) 	edge[bend left]		node {$x_r$} 			(Z_0)
		edge[loop above] 	node{$\overline{x_r}$}	(Z_1);
\end{tikzpicture}
\end{document}

\begin{tikzpicture}[state/.style=state with output]
\node[state]{$Z_0$\nodepart{lower}{$y_i=x_s$, $y_r=0$}};
\end{tikzpicture}