Description: Description: Description: Description: PendubotDescription: Description: Description: Description: Rectilinear PlantME 340 Spring 2024

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

Alireza Askarian

M4-5:50PM,W12-1:50PM, W4-5:50PM


Hyungsoo Kang

M12-1:50PM, T10-11:50AM, T1-2:50PM


Praveen Prakash

T3-4:50PM, Th10-11:50AM, Th1-2:50PM


Liyuan Zhang

W10-11:50AM,Th3-4:50PM, F10-11:50AM

T 6-8PM


Lab Schedule:


Starts the week of....

Material covered....

Lab 1

February 5th

Matlab Tutorial

Lab 2

February 19th

Dynamic System Simulation Using Simulink/Matlab

Lab 3**

March 4th

Modeling of a Leaking Tank as a Differential Equation

Lab 4

March 18th

Dynamics of a Mass-Spring-Damper System

Lab 5

March 25th

Dynamics of a Multi Degree of Freedom System

Lab 6

April 8th

Dynamics of Continuous Systems - Cantilever Beams I

Lab 7

April 22nd

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.