1. The problem statement, all variables and given/known data 2. Relevant equations Listed under 2.1 in the image above. This is the only relevant equation that I'm aware of, but I'm almost sure that there is something else I need to know before I can solve the problem. 3. The attempt at a solution I tried solving for the preamplifier first, then I realized I was just running around in circles and not actually solving anything. In order to get V_e(s), I need to first find the output of the first potentiometer and subtract it from that of the second one. output for first potentiometer: K_pot*θ_i(s) output for second potentiometer: K_pot*θ_a(s) V_e(s) = K_pot(θ_i(s)-θ_a(s)) Now, V_p(s) = K*V_e(s) = K*K_pot(θ_i(s)-θ_a(s)) Transfer function of preamplifier: [K*K_pot(θ_i(s)-θ_a(s))]/[K_pot(θ_i(s)-θ_a(s))] = K Clearly the transfer function is not the same thing as the function for the physical block, so I must be doing something wrong here. I just don't see how I can fill out the table using just the equation I was given.