diff --git a/docs/src/tutorials/dc_motor_pi.md b/docs/src/tutorials/dc_motor_pi.md
index ae711ed0d..39546dae8 100644
--- a/docs/src/tutorials/dc_motor_pi.md
+++ b/docs/src/tutorials/dc_motor_pi.md
@@ -20,67 +20,48 @@ using ModelingToolkitStandardLibrary.Blocks
 using OrdinaryDiffEq
 using Plots
 
-@parameters t
-
-R = 0.5 # [Ohm] armature resistance
-L = 4.5e-3 # [H] armature inductance
-k = 0.5 # [N.m/A] motor constant
-J = 0.02 # [kg.m²] inertia
-f = 0.01 # [N.m.s/rad] friction factor
-tau_L_step = -0.3 # [N.m] amplitude of the load torque step
-nothing # hide
-```
-
-The actual model can now be composed.
-
-```@example dc_motor_pi
-@named ground = Ground()
-@named source = Voltage()
-@named ref = Blocks.Step(height = 1, start_time = 0)
-@named pi_controller = Blocks.LimPI(k = 1.1, T = 0.035, u_max = 10, Ta = 0.035)
-@named feedback = Blocks.Feedback()
-@named R1 = Resistor(R = R)
-@named L1 = Inductor(L = L)
-@named emf = EMF(k = k)
-@named fixed = Fixed()
-@named load = Torque()
-@named load_step = Blocks.Step(height = tau_L_step, start_time = 3)
-@named inertia = Inertia(J = J)
-@named friction = Damper(d = f)
-@named speed_sensor = SpeedSensor()
-
-connections = [connect(fixed.flange, emf.support, friction.flange_b)
-    connect(emf.flange, friction.flange_a, inertia.flange_a)
-    connect(inertia.flange_b, load.flange)
-    connect(inertia.flange_b, speed_sensor.flange)
-    connect(load_step.output, load.tau)
-    connect(ref.output, feedback.input1)
-    connect(speed_sensor.w, :y, feedback.input2)
-    connect(feedback.output, pi_controller.err_input)
-    connect(pi_controller.ctr_output, :u, source.V)
-    connect(source.p, R1.p)
-    connect(R1.n, L1.p)
-    connect(L1.n, emf.p)
-    connect(emf.n, source.n, ground.g)]
-
-@named model = ODESystem(connections, t,
-    systems = [
-        ground,
-        ref,
-        pi_controller,
-        feedback,
-        source,
-        R1,
-        L1,
-        emf,
-        fixed,
-        load,
-        load_step,
-        inertia,
-        friction,
-        speed_sensor,
-    ])
-nothing # hide
+@mtkmodel dcmotor begin
+    @parameters begin 
+        R = 0.5 # [Ohm] armature resistance
+        L = 4.5e-3 # [H] armature inductance
+        k = 0.5 # [N.m/A] motor constant
+        J = 0.02 # [kg.m²] inertia
+        f = 0.01 # [N.m.s/rad] friction factor
+        tau_L_step = -0.3 # [N.m] amplitude of the load torque step
+    end
+    @components begin
+        ground = Ground()
+        source = Voltage()
+        ref = Blocks.Step(height = 1, start_time = 0)
+        pi_controller = Blocks.LimPI(k = 1.1, T = 0.035, u_max = 10, Ta = 0.035)
+        feedback = Blocks.Feedback()
+        R1 = Resistor(R = R)
+        L1 = Inductor(L = L)
+        emf = EMF(k = k)
+        fixed = Fixed()
+        load = Torque()
+        load_step = Blocks.Step(height = tau_L_step, start_time = 3)
+        inertia = Inertia(J = J)
+        friction = Damper(d = f)
+        speed_sensor = SpeedSensor()
+    end
+    @equations begin 
+        connect(fixed.flange, emf.support, friction.flange_b)
+        connect(emf.flange, friction.flange_a, inertia.flange_a)
+        connect(inertia.flange_b, load.flange)
+        connect(inertia.flange_b, speed_sensor.flange)
+        connect(load_step.output, load.tau)
+        connect(ref.output, feedback.input1)
+        connect(speed_sensor.w, :y, feedback.input2)
+        connect(feedback.output, pi_controller.err_input)
+        connect(pi_controller.ctr_output, :u, source.V)
+        connect(source.p, R1.p)
+        connect(R1.n, L1.p)
+        connect(L1.n, emf.p)
+        connect(emf.n, source.n, ground.g)
+    end
+end
+nothing #hide
 ```
 
 Now the model can be simulated. Typical rotational mechanical systems are described via `DAE`
@@ -88,14 +69,14 @@ Now the model can be simulated. Typical rotational mechanical systems are descri
 so that it can be represented as a system of `ODEs` (ordinary differential equations).
 
 ```@example dc_motor_pi
-sys = structural_simplify(model)
+@mtkbuild sys = dcmotor()
 prob = ODEProblem(sys, [], (0, 6.0))
 sol = solve(prob, Rodas4())
 
-p1 = Plots.plot(sol.t, sol[inertia.w], ylabel = "Angular Vel. in rad/s",
+p1 = Plots.plot(sol.t, sol[sys.inertia.w], ylabel = "Angular Vel. in rad/s",
     label = "Measurement", title = "DC Motor with Speed Controller")
-Plots.plot!(sol.t, sol[ref.output.u], label = "Reference")
-p2 = Plots.plot(sol.t, sol[load.tau.u], ylabel = "Disturbance in Nm", label = "")
+Plots.plot!(sol.t, sol[sys.ref.output.u], label = "Reference")
+p2 = Plots.plot(sol.t, sol[sys.load.tau.u], ylabel = "Disturbance in Nm", label = "")
 Plots.plot(p1, p2, layout = (2, 1))
 ```