DC Motor Transfer Function Kt 0(s) KT RJ E(s) s[RJs+Rb+KTK] s(S+ R.b+KiK5) RJ Where: θ(s) Km E(s) s[T,s+1] Km KT (Rb+KTK) Motor gain constant Tm RJ Motor time constant (Rb+KTK( ) [ 1] ( )   s T s K E s s m m a  Where: ( ) T m a Tb K K Rb K K   ( ) a m a Tb R J T Rb K K   Motor gain constant Motor time constant DC Motor Transfer Function ( ) () [ ] ( ) T T a a Tb a a a Tb a K s K R J E s s R Js R b K K R b KK s s R J       