How do I add a gear ratio to the standard linear model for a DC motor?

How do I add a gear ratio to the standard linear model for a DC motor?

Hi, I’d like to use the following model of a DC motor for a state-space representation of my robot.

https://i.redd.it/75vo4t8p5vs11.png

The issue is that I’m using a gear motor whereas every version of these two equations I’ve seen are for an ungeared motor. What do I need to change to account for the gear ratio?

submitted by /u/LocknutBushing
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