Transfer function model from block diagram

Hello, i am facing difficulties in translating the transfer function of the block diagram above into Matlab.

I do have the control systems toolbox.

for the system plant, I have

tf_1 = feedback(tf([1],[I_wh 0]),c_vis); % small loop with c_vis
tf_2 = series(tf([1/R],[L/R 1])*3/2*kT, tf_1) % series of tf_1 and motor tf
tf_system_plant = series(feedback(tf_2,ke),tf([J 0],1))

The upper two paths in the controller can be summarized as

tf_ctrl1 = parallel(tf(k_omega,[1 0]),tf(k_phi,[1 0 0]))

But I do not know how to include the feedback loop of the reaction torque and the feed forward component k_alpha.

Any help is appreciated!

Answer 1

[Paul]

The easiest way, IMO, is to use connect. Feel free to post back here if you still have questions after reading the doc page and trying it out.