1. The problem statement, all variables and given/known data The block diagram of a PM DC servo motor with current loop feedback is shown below: If Ki is adjusted such that J(Ki+R)2 >> 4KTKbL, show that the transfer function may be approximated by G(s) = (1/Kb) / (τms+1)(τes+1), where τm = J(R+Ki) / KTKb τe = L / (R+Ki) 3. The attempt at a solution I simplified the block diagram and got the transfer function: G(s) = Kt / (JLs2 + J(R + Ki)s + KtKb) Then I tried to factor the denominator. When using the quadratic formula, I found: (-JR - JKi) +/- sqrt( J[ J(R+Ki)2 - 4KtKbL]) / 2JL Assuming the conditions presented for Ki, I cancelled out the 4KtKbL. Am I on the right path? In the end, I still couldn't get the transfer function presented in the homework.