I am having trouble trying to obtain Y/R from the block diagram below:(adsbygoogle = window.adsbygoogle || []).push({});

the only thing i understand so far is that the bottom right loop is a feedback loop and can be simplified to 1/(s+a_{1}). i know b_{1}s can be obtained from the right loop, but i am having trouble getting to that point. i know it has to do with moving the summer

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# Block diagram simplication

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