Simscape dc motor circuit with two cuadrant chopper and pwm

Simulate the operation of the drive system with Simscape:

1. Choose a suitable converter topology and a motor for the application.

2. Simulate ONLY the motor with a constant voltage supply and a constant torque load.

3. Simulate ONLY the converter for a constant RL load and a constant duty cycle, including the modulator.

4. Simulate the converter attached to the motor for a constant torque load.

5. Simulate the dynamic behaviour of the entire electric drive for a time-varying load torque profile.

6. Simulate the electric drive against the mechanical model of the transmission system and the load.

Is a dc motor circuit with a two cuadrant chopper that works in 1 and 4 cuadrant that has to be controllated with a pwm , the duty cycle and the current, because has to change the direction of the motor if i want. I dont know how to do it well