Image text transcribed for accessibility: The above block diagram is a simplified form of the feedback controllers used on the General Electric P50 robot. It contains position feedback, velocity feedback, back emf, and a torque feedback loop. Find the transfer function from Yd(s) to the voltage input to the motor U(s). Again show your logic. Solution: you can continue shifting loops further Transfer function between yd&u is k1(s3+s2+s)/s3+s2(k1+1)+s+k1 Please explain how of these steps are derived.