Mathematical modeling of RC servo motor a.k.a Hobby Servo

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Hello guys, I've been study about mathematical modeling of R/C servo motor. R/C servo is made up of DC motor, potentiometer and some gear. Most of the transfer function are mainly modeling the DC motor. My question is, since the motor contains gear, do I need to consider the gear to the transfer function? I can't find any related modeling is including the gears. Any help is appreciated.
 

I assume the potentiometer is based on the absolute position of the output of the gearbox? If so then yes, it sounds like it should include the gear since loop gain includes everything that's in-between the control signal and the feedback signal. I think it boils down to a scale factor equal to the gear ratio.
 
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