Description: Description: Description: Description: PendubotDescription: Description: Description: Description: Rectilinear PlantME 340 Spring 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

Zhiqiao Dong

AB2 M 4-6pm, AB7 W 4-6pm

W10-12pm 0028LuMEB

Th 4-6pm 0028LuMEB

Hyungsoo Kang

AB1 M 12-2pm, AB3 Tu 10-12pm, AB6 W 12-2pm, AB8 Th 10-12pm

M 2-5pm 0022LuMEB

F 12-3pm 0022LuMEB

Yagiz Olmez

AB4 Tu 1-3pm, AB5 Tu 3-5pm, AB9 Th 1-3pm, ABA Th 4-5pm

T 1:30-4:30pm 2058LuMEB

Th 1:30-4:30pm 2058LuMEB



Lab Schedule:


Starts the week of....

Material covered....

Lab 1

January 23rd

Matlab Tutorial

Lab 2

February 6th

Dynamic System Simulation Using Simulink/Matlab

Lab 3**

February 20th

Modeling of a Leaking Tank as a Differential Equation

Lab 4

March 6th

Dynamics of a Mass-Spring-Damper System

Lab 5

March 27th

Dynamics of a Multi Degree of Freedom System

Lab 6

April 10th

Dynamics of Continuous Systems - Cantilever Beams I

Lab 7

April 24th

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.