This example shows how to model a controlled linear actuator based on a DC motor, worm gear and lead screw. This system-level model is suitable for supporting current and speed controller design. It can also be used in a larger model of the complete system. The Simulation mode parameter is set to Averaged for both the Controlled PWM Voltage and H-Bridge blocks, resulting in fast simulation. To validate the averaged behavior, change the Simulation mode parameter to PWM in both blocks.