Description: Description: Description: Description: PendubotDescription: Description: Description: Description: Rectilinear PlantME 340 Fall 2019

Modeling and Analysis of Dynamical Systems

Lab Handouts, Prelab and Lab Reports


Lab Facility: Room 3073 ECE Building and Lab 2 in 130B OPEL

Lab TA's:



Lab Instruction

Office Hours




Oyuna Angatkina

T8-10am, T3-5pm, Th8-10am, Th3-5pm

5:30-6:30pm Thursday

Zheng Feng

M12-2pm, M3-5pm W3-5pm

5:30-6:30pm Thursday

Ram Gorugantu

T10-12pm, T12-2pm, Th10-12pm, Th12-2pm,

5:30-6:30pm Thursday

Lab Schedule:


Starts the week of....

Material covered....

Lab 1

August 26, 2019

Matlab Tutorial

Lab 2**

September 16, 2019

Modeling of a Leaking Tank as a Differential Equation

Lab 3

September 30, 2019

Dynamic System Simulation Using Simulink/Matlab

Lab 4

October 14, 2019

Dynamics of a Mass-Spring-Damper System

Lab 5

October 28, 2019

Dynamics of a Multi Degree of Freedom System

Lab 6

November 11, 2019

Dynamics of Continuous Systems - Cantilever Beams I

Lab 7

December 2, 2019

Dynamics of a Nonlinear System The Pendubot

Labs held in room 3073 ECE Building unless otherwise noted.

** Lab 2 held in room 130B OPEL

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.