DC Motor Transfer Function Taking the Laplace Transform and assuming zero condition Kise(s)=E(s) (Las+R)Ia(s)+En(s)=E(s) (Js2+bs)e(s)=T(s)=K71(s) 0(s) KT E(s) s[LJs2+(Lob+RJ)s+Rob+KTK] La is usually small and may be neglected. θ(s) KT RJ E(s) sTRJs+Rb+k,k s(s4RbtKk RaJTaking the Laplace Transform and assuming zero condition 2 () () ( ) () () () ( ) () () () b b a aa b a T a Ks s E s L s RIs Es Es Js bs s T s K I s        DC Motor Transfer Function 2 ( ) () [ ( ) ] T a a a a a Tb s K E s s L Js L b R J s R b K K      La is usually small and may be neglected. ( ) () [ ] ( ) T T a a Tb a a a Tb a K s K R J E s s R Js R b K K Rb K K s s R J       