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I'm trying to find transmit functionstransfer function of this block diagram.

So far I'm startI've started with the most small loofsmallest loop, but it's nonsense because don't know how to deal with Tf(s)(Friction torque) to Motor angular speed.

block diagram

Here's my calculation attempt. Any kick to the right direction is appreciated.

loofloop

I'm trying to find transmit functions of this block diagram.

So far I'm start with the most small loof, but don't know how to deal with Tf(s)(Friction torque)

block diagram

loof

I'm trying to find transfer function of this block diagram.

So far I've started with the smallest loop, but it's nonsense because don't know how to deal with Tf(s)(Friction torque) to Motor angular speed.

block diagram

Here's my calculation attempt. Any kick to the right direction is appreciated.

loop

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I'm trying to find transmit functions of this block diagram.

So far I'm start with the most small loof, but don't know how to deal with Tf(s)(Friction torque)

block diagram

loof

I'm trying to find transmit functions of this block diagram.

So far I'm start with the most small loof, but don't know how to deal with Tf(s)(Friction torque)

I'm trying to find transmit functions of this block diagram.

So far I'm start with the most small loof, but don't know how to deal with Tf(s)(Friction torque)

block diagram

loof

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Finding transfer function from diagram

I'm trying to find transmit functions of this block diagram.

So far I'm start with the most small loof, but don't know how to deal with Tf(s)(Friction torque)