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Convert Equation into given form (numerator dependent on s)

[(Kp * s + Ki)/s] * (K * Km) / [s[(Ls+R)(Js+b) + K^2m)]]

I want to get the above into the form of

d / [s^3 + a s^2 + b s + c]

Please give complete solution.

I want the numerator dependent on s. All the other values are given other than s. I just need it into that form.

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