Given the equations of a system, how could I find the FDT using Matlab?

Hi everyone, I have some equations which control a system. I was wondering how could I put those equations in Matlab to find the transfer function easily. These are the equations of my system:

U=Kc*(thetaR-theta2)

U-Ub=(R+L*s)*I

Pm=Kp*I

Pm=Jm*s*w1+Bm*w1+P2

Ub=Kb*w1

P2=K*(theta1-theta2)

P2=(J*s+B)*w2

and the parameters:

R=L=Kp=Kc=1

Kb=0.5

Jm=Bm=0.1

J=K=0.65

B=2.1

Thank you.