Description: Description: Description: Description: PendubotDescription: Description: Description: Description: Rectilinear PlantME 340 Fall 2023

Modeling and Analysis of Dynamical Systems

Lab Handouts, Prelab and Lab Reports


Lab Facility: Room 3073 ECE Building and Lab 3 in 0036 MEB

Lab TA's:



Lab Instruction

Office Hours

Michael Aramyan

Tuesday 8:00-9:50

Wednesday 17:00-18:50

Thursday 8:00-9:50

Alireza Askarian

Tuesday 15:00-16:50

Thursday 17:00-18:50

Hyungsoo Kang

Monday 12:00-13:50

Thursday 10:00-11:50

Thursday 12:00-13:50

Josh Tempelman

Wednesday 12:00-13:50

Friday 8:00-9:50

Liyuan Zhang

Monday 17:00-18:50

Tuesday 10:00-11:50

Tuesday 12:00-13:50


Zhengtao Xu

Monday 15:00-16:50

Tuesday 17:00-18:50

Wednesday 15:00-16:50


Lab Schedule:


Starts the week of....

Material covered....

Lab 1

September 11th

Matlab Tutorial

Lab 2

September 25th

Dynamic System Simulation Using Simulink/Matlab

Lab 3**

October 2nd

Modeling of a Leaking Tank as a Differential Equation

Lab 4

October 9th

Dynamics of a Mass-Spring-Damper System

Lab 5

October 23rd

Dynamics of a Multi Degree of Freedom System

Lab 6

November 6th

Dynamics of Continuous Systems - Cantilever Beams I

Lab 7

November 27th

Dynamics of a Nonlinear System The Pendubot

Labs held in room 3073 ECE Building unless otherwise noted.

** Lab 3 held in room 0036 MEB

Description: Description: Description: Description: Rectilinear PlantEquipment:

The ECP Rectilinear Plant is used to illustrate the behavior of mass-spring-damper systems.  The drive motor on the left is used to investigate forced responses, while the three masses, three springs and single damper can be arranged in a variety of formations. Encoders linked to the masses communicate the three mass positions to the computer for analysis.  Labs 4 and 5 will use the ECP plant to take a look at step responses, free responses subject to initial conditions, and identifying modal frequencies and mode shapes.
Description: Description: Description: Description: Pendubot 

The Pendubot is a two link underactuated robotic pendulum, developed at UIUC by Dan Block.  Lab 7 uses this pendulum to compare experimental results to both the nonlinear and linearized 4th order motion equations.  Although this lab investigates only free responses, a demonstration will precede the experiment to show the Pendubot's swing up and catching ability to balance at two unstable equilibrium positions.