Modelling the speed control of a mobile robotic system
This is the block diagram of DC motor, similar you should have in your article:
And this is the transfer function of it:
$$ \dfrac{\Omega(s)}{u_q(s)} =\dfrac{{k_\Phi}}{s^2L_qJ + s{R_qJ+L_qF}+{R_qF+k_\Phi^2}}
$$
Replacing the upper \$k_{\Phi}\$ in the diagram with \$k_T\$ and the lower one with \$k_v\$ we get almost the same transfer function as your blurry one, except B=F, :
$$ \dfrac{\Omega(s)}{u_q(s)} =\dfrac{{k_T}}{s^2L_qJ + s{R_qJ+L_qF}+{R_qF+k_v\cdot k_T}}
$$
You have to place the inertia and friction parameter in the feedforward path of your position controller \$T=J \alpha + F \Omega\$. The approx. amount of torque is known &quot;a priori&quot; with these two parameters known.
Where to place Radius-R(not resistance)? \$l=\Theta R\$;  \$\Theta =\dfrac{\Omega}{s}\$