Motor resistance and inductance
Your question is quite confusing but let me try to answer it. First of all your transfer function only represents the electrical elements. When you model a motor it is easiest to ignore the electrical elements and just focus on the mechanical elements. The reasoning is the mechanical elements reach steady state much much slower than the electrical elements. To dig into this a bit deeper your root locus poles for the mechanical elements will be closer to the real/ imaginary axis than your electrical elements (recall that poles closer to the real/imaginary axis dominate the systems response).
There are two ways of controlling a motor: (1) Voltage Control, (2) current control. From your above question it sounds like you are doing current control.
Now you don't state weather you are controlling angular velocity or position. So I will provide you with both methods
Speed Control:
\begin{align}
Js\omega(s)=Ki-\tau\\
G(s)=\frac{\omega(s)}{i}=\frac{K}{Js}
\end{align}
Position Control:
\begin{align}
Js^2\theta(s)=Ki-\tau\\
G(s)=\frac{\theta(s)}{i}=\frac{K}{Js^2}
\end{align}
\$K\$ should be your line to line back emf or torque constant.
\$J\$ should be your systems inertia.\$\tau\$ is a torque disturbance. Note it is best to model torque disturbances by subtracting your supply current by \$i=\frac{\tau}{K}\$.
See if this helps. It also might be helpful to share you motor and system parameters