FE Electrical and Computer exam practice: cram pack

Formula sheets, the key method steps for every topic and 40 practice problems, with full solutions at the back.

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1Formulas and methods

Series & parallel resistors

Resistors in series
Req = R1 + R2 + …
Resistors in parallel
1/Req = 1/R1 + 1/R2 + …
Two in parallel
Req = R1R2 / (R1 + R2)
Ohm's law
V = I·R
Power
P = V·I = I²R = V²/R

Method

  1. Start at the end of the network furthest from the terminals.
  2. Combine resistors in series by adding them, and resistors in parallel with 1/R = 1/R₁ + 1/R₂ + …
  3. Redraw the circuit after each step.
  4. Repeat until one resistor is left between the terminals.

Nodal analysis

Kirchhoff’s current law
ΣIin = ΣIout
Branch current
I = (Va − Vb)/R
Reference node
Vground = 0

Method

  1. Choose a reference node (ground) and label the other node voltages.
  2. Write Kirchhoff’s current law at every unknown node: currents leaving through each branch equal the currents entering.
  3. Express every branch current as (Va − Vb)/R.
  4. Solve the system of equations, then find any current you need.

Mesh analysis

Kirchhoff’s voltage law
ΣV = 0 around every loop
Shared resistor
current = I1 − I2
Current source in a mesh
fixes that mesh current

Method

  1. Draw a clockwise current in every mesh (window) of the circuit.
  2. Apply Kirchhoff’s voltage law around each mesh: the sum of voltage drops is zero.
  3. In a resistor shared by two meshes the current is the difference of the two mesh currents.
  4. Solve the equations; a negative result means the current flows the other way.

Superposition

Superposition
x = x1 + x2 + … (one source at a time)
Switched-off voltage source
short circuit (0 V)
Switched-off current source
open circuit (0 A)
Voltage divider
V2 = V·R2/(R1 + R2)
Current divider
I1 = I·R2/(R1 + R2)

Method

  1. Count the independent sources. You will solve one simpler circuit per source.
  2. Keep one source and switch off the others: a voltage source becomes a short circuit (a wire), a current source becomes an open circuit (a gap).
  3. Solve the simpler circuit for the voltage or current you need, keeping track of its direction.
  4. Repeat for every source, then add the contributions with their signs.

Thévenin & Norton

Thévenin voltage
Vth = Vopen circuit
Thévenin resistance
Rth: all sources off, seen from a–b
Norton current
IN = Vth/Rth
Load current
IL = Vth/(Rth + RL)
Maximum power transfer
RL = Rth, Pmax = Vth²/(4Rth)

Method

  1. Remove the load and mark the two terminals a and b.
  2. Find the open-circuit voltage between a and b: this is Vth.
  3. Switch off all independent sources and find the resistance seen from a–b: this is Rth.
  4. Put the load back on the equivalent circuit: Vth in series with Rth.
  5. For the Norton equivalent, convert: IN = Vth/Rth, with RN = Rth in parallel.

RC & RL transients

Time constant
τ = RC | τ = L/R
Response
x(t) = x(∞) + [x(0) − x(∞)]·e−t/τ
Capacitor at DC
open circuit; vC cannot jump
Inductor at DC
short circuit; iL cannot jump
Settled
t ≈ 5τ

Method

  1. Find the initial value just after switching: a capacitor voltage and an inductor current cannot jump.
  2. Find the final value long after switching: a capacitor acts as an open circuit, an inductor as a short circuit.
  3. Find the time constant: τ = RC or τ = L/R, using the resistance seen by the capacitor or inductor.
  4. Use x(t) = x(∞) + [x(0) − x(∞)]·e−t/τ.

AC impedance & phasors

Impedances
ZR = R, ZL = jωL, ZC = 1/(jωC)
Angular frequency
ω = 2πf
Magnitude and angle
|Z| = √(R² + X²), φ = atan(X/R)
Phasor Ohm’s law
V = I·Z

Method

  1. Convert the frequency: ω = 2πf.
  2. Find each reactance: XL = ωL and XC = 1/(ωC).
  3. Add impedances like resistors, with Z = R + jX.
  4. Find the magnitude |Z| = √(R² + X²) and the angle φ = atan(X/R), then use Ohm’s law with phasors.

AC power & power factor

Real power
P = V·I·cos φ
Reactive power
Q = V·I·sin φ
Apparent power
S = V·I = √(P² + Q²)
Power factor
pf = cos φ = P/S
Correction capacitor
QC = P(tan φ1 − tan φ2), C = QC/(ωV²)

Three-phase power

Y connection
VL = √3·Vph, IL = Iph
Δ connection
VL = Vph, IL = √3·Iph
Total real power
P = √3·VL·IL·cos φ = 3·Iph²·R
Apparent and reactive power
S = √3·VL·IL, Q = P·tan φ
Correction capacitors
QC = P(tan φ1 − tan φ2), C = QC/(3ωV²)
Voltage across each capacitor
Δ: VL Y: VL/√3
Motor input
Pin = Pout/η

Transformers

Turns ratio
a = N1/N2 = V1/V2
Current ratio
I1/I2 = N2/N1 = 1/a
Rated current
I = S/V
Referred impedance
Z1′ = a²·ZL
Copper loss at part load
Pcu = x²·Pcu,fl
Efficiency
η = x·S·pf/(x·S·pf + Pcore + x²·Pcu,fl)
Maximum efficiency
x = √(Pcore/Pcu,fl)

Op-amp circuits

Inverting amplifier
Vout = −(Rf/Rin)·Vin
Non-inverting amplifier
Vout = (1 + Rf/R1)·Vin
Summing amplifier
Vout = −Rf(V1/R1 + V2/R2)
Ideal op-amp
V+ = V−, Iin = 0

Diodes & transistors

Diode (constant drop)
VD = 0.7 V when conducting
Active region
VBE = 0.7 V, IC = β·IB, IE = (β + 1)·IB
Fixed bias
IB = (VCC − 0.7)/RB
Divider bias
IB = (VTH − 0.7)/(RTH + (β + 1)RE)
Thévenin of the divider
VTH = VCC·R2/(R1 + R2), RTH = R1∥R2
Collector loop
VCE = VCC − ICRC − IERE
Saturation
IC(sat) = (VCC − VCE(sat))/RC, IB ≥ IC(sat)/β

Number systems

Place values
binary 2k, octal 8k, hex 16k
To decimal
Σ dk·bk
From decimal
divide by the base, read the remainders bottom-up
Hex ↔ binary
one hex digit = 4 bits
Two’s complement
invert the bits and add 1

Digital logic: gates, K-maps & flip-flops

Basic gates
A·B, A + B, A′, (A·B)′, (A + B)′, A ⊕ B
Boolean rules
X + X′ = 1, X·X′ = 0, X + XY = X, XY + XY′ = X
De Morgan
(X·Y)′ = X′ + Y′, (X + Y)′ = X′·Y′
Karnaugh map order
00, 01, 11, 10 (Gray code)
Group of 2ᵏ cells
loses k variables
4-to-1 multiplexer
F = A′B′I0 + A′BI1 + AB′I2 + ABI3
Flip-flops
D: Q⁺ = D, T: Q⁺ = T ⊕ Q, JK: Q⁺ = JQ′ + K′Q
Counters
n-bit: 2ⁿ states; mod-N: smallest n with 2ⁿ ≥ N; fout = fclk/N
Ripple counter
fmax = 1/(n·tpd)
Ring and Johnson counters
n and 2n states

Method

  1. For a circuit, work from the inputs to the output one gate at a time and write the value on every wire, or write its expression and fill in the truth table.
  2. For simplification, put the 1s (and the don’t-cares as X) into a Karnaugh map with Gray-code rows and columns: 00, 01, 11, 10.
  3. Cover the 1s with as few and as large groups of 1, 2, 4, 8 or 16 cells as possible, wrapping round the edges; each group is one product term made of the variables that stay constant. Group the 0s for the POS form.
  4. For flip-flops and counters, read the inputs at each active clock edge, write the state after every edge, and remember that an n-bit counter wraps round after 2ⁿ states.

Stability: Routh–Hurwitz & root locus

Stability
all roots of the characteristic polynomial in the left half-plane
Routh array, s¹ entry of a cubic
b1 = (a2a1 − a3a0)/a2
Right half-plane roots
number of sign changes in the first column
Cubic s³ + a₂s² + a₁s + a₀
stable when all a > 0 and a₂·a₁ > a₀
K/(s(s + a)(s + b))
Kmax = ab(a + b), ω = √(ab)
Characteristic equation
1 + K·G(s) = 0
Asymptotes
σa = (Σp − Σz)/(n − m), θ = (2q + 1)·180°/(n − m)
Break-away and break-in points
dK/ds = 0
Magnitude condition
K = 1/|G(s)|
Angle of departure
θd = 180° − Σ∠(from other poles) + Σ∠(from zeros)

Method

  1. Write the closed-loop characteristic polynomial: the denominator of 1 + K·G(s) = 0, multiplied out.
  2. Put the coefficients alternately into the first two rows of the Routh array and build the remaining rows.
  3. Count the sign changes in the first column: each one is a pole in the right half-plane. With K in the array, demand that every first-column entry stays positive.
  4. For a root locus, mark the poles and zeros, the real-axis segments, the asymptotes from the centroid and the break points where dK/ds = 0. Use K = 1/|G(s)| for the gain at a point.

Steady-state error & PID control

System type
number of poles of G(s) at s = 0
Error constants
Kp = lim G(s), Kv = lim s·G(s), Ka = lim s²·G(s) (s → 0)
Step A
ess = A/(1 + Kp)
Ramp A·t
ess = A/Kv
Parabola A·t²/2
ess = A/Ka
PID controller
C(s) = Kp + Ki/s + Kd·s
Second-order target
s² + 2ζωns + ωn²
Overshoot and timing
%OS = 100·e−ζπ/√(1−ζ²), tp = π/ωd, ts ≈ 4/(ζωn)

Method

  1. Count the poles of the open loop C(s)·G(s) at s = 0: that is the system type.
  2. Work out the error constant that matches the input: Kp for a step, Kv for a ramp, Ka for a parabola.
  3. Apply ess = A/(1 + Kp), A/Kv or A/Ka, or solve it for the gain you need.
  4. For a damping or speed specification, write the closed-loop characteristic polynomial and match it with s² + 2ζω_n·s + ω_n².

2Practice problems

1.Series & parallel resistorsMedium
R1​ = 12 ΩR3​ = 5 Ω+−V1​18 VR2​2 ΩAR4​4 ΩB

Find the equivalent resistance Req seen by the source V1.

V1 = 18 VR1 = 12 ΩR2 = 2 ΩR3 = 5 ΩR4 = 4 Ω
Req = Ω
2.Series & parallel resistorsHard
R1​ = 5 ΩR3​ = 6 ΩR5​ = 25 Ω+−V1​18 VR2​10 ΩAR4​10 ΩBR6​30 Ω

Find the equivalent resistance Req seen by the source V1.

V1 = 18 VR1 = 5 ΩR2 = 10 ΩR3 = 6 ΩR4 = 10 ΩR5 = 25 ΩR6 = 30 Ω
Req = Ω
3.Nodal analysisMedium
R1​ = 15 ΩR3​ = 10 Ω+−V1​6 VR2​20 ΩAR4​10 ΩBIs​5 A

Use nodal analysis to find the node voltage VA (measured from ground).

V1 = 6 VIs = 5 AR1 = 15 ΩR2 = 20 ΩR3 = 10 ΩR4 = 10 Ω
VA = V
4.Nodal analysisHard
R1​ = 6 ΩIR1​R2​ = 15 ΩR4​ = 12 Ω+−V1​9 VR3​5 ΩAR5​15 ΩBIs​2 A+−V2​15 V

Use nodal analysis to find the current IR1 through R1 in the direction of the arrow.

V1 = 9 VIs = 2 AV2 = 15 VR1 = 6 ΩR2 = 15 ΩR3 = 5 ΩR4 = 12 ΩR5 = 15 Ω
IR1 = A
5.Mesh analysisMedium
R1​ = 10 Ω+−VR1​R2​ = 4 Ω+−V1​24 VR3​8 ΩA+−V2​18 VI1​I2​

Use mesh analysis to find the voltage VR1 across R1 with the polarity shown.

V1 = 24 VV2 = 18 VR1 = 10 ΩR2 = 4 ΩR3 = 8 Ω
VR1 = V
6.Mesh analysisHard
R1​ = 3 ΩR2​ = 6 Ω+−VR2​R3​ = 4 Ω+−V1​10 VR4​30 ΩAR5​10 ΩB+−V2​30 VI1​I2​I3​

Use mesh analysis to find the voltage VR2 across R2 with the polarity shown.

V1 = 10 VV2 = 30 VR1 = 3 ΩR2 = 6 ΩR3 = 4 ΩR4 = 30 ΩR5 = 10 Ω
VR2 = V
7.SuperpositionMedium
R1​ = 12 ΩIR1​R3​ = 12 Ω+−V1​12 VR2​2 ΩAR4​8 ΩBIs​2 A

Use superposition to find the current IR1 through R1 in the direction of the arrow.

V1 = 12 VIs = 2 AR1 = 12 ΩR2 = 2 ΩR3 = 12 ΩR4 = 8 Ω
IR1 = A
8.SuperpositionHard
R1​ = 10 ΩR2​ = 20 ΩR4​ = 4 Ω+−V1​15 VR3​12 ΩIR3​AIs​5 AB+−V2​18 V

Use superposition to find the power PR3 absorbed by R3.

V1 = 15 VIs = 5 AV2 = 18 VR1 = 10 ΩR2 = 20 ΩR3 = 12 ΩR4 = 4 Ω
PR3 = W
9.Thévenin & NortonMedium
R1​ = 10 ΩR3​ = 8 Ω+−V1​10 VR2​3 ΩARL​4 ΩIL​B

A load RL = 4 Ω is connected across a–b. Replace the rest of the circuit with its Thévenin equivalent and find the load current IL.

V1 = 10 VR1 = 10 ΩR2 = 3 ΩR3 = 8 ΩRL = 4 Ω
IL = A
10.Thévenin & NortonHard
R1​ = 10 ΩR3​ = 10 Ω+−V1​36 VR2​30 ΩAIs​1.5 ABab

Find the Norton current IN: the current that flows from a to b if the terminals are shorted.

V1 = 36 VIs = 1.5 AR1 = 10 ΩR2 = 30 ΩR3 = 10 Ω
IN = A
11.RC & RL transientsMedium
+−Vs​6 Vt = 0R1​ = 10 kΩR2​ = 2.2 kΩC100 µF+−vC​

The source Vₛ charges the capacitor through R₁, and R₂ is connected in parallel with C. The capacitor is uncharged when the switch closes at t = 0. Find the time constant τ of the circuit after the switch closes.

Vs = 6 VR1 = 10 kΩR2 = 2.2 kΩC = 100 µF
τ = ms
12.RC & RL transientsHard
+−Vs​24 Vt = 0R = 10 kΩC68 µF+−vC​vC​(0) = 6 V

Just before the switch closes at t = 0, the capacitor holds 6 V with the polarity shown. How long does it take for vC to reach 20.4 V? Find t.

Vs = 24 VR = 10 kΩC = 68 µFvC(0) = 6 V
t = ms
13.AC impedance & phasorsMedium
50 V100 HzR = 40 ΩL = 100 mHC = 2.2 µF

A series RLC circuit is connected to a 50 V (rms), 100 Hz supply. Find the phase angle φ of the impedance, in degrees (positive when the current lags the voltage).

V = 50 V (rms)f = 100 HzR = 40 ΩL = 100 mHC = 2.2 µF
φ = °
14.AC impedance & phasorsHard
230 V200 HzR = 100 ΩL = 250 mHC = 47 µF

A series RLC circuit is connected to a 230 V (rms), 200 Hz supply. Find the resonant frequency f0 of the circuit.

V = 230 V (rms)f = 200 HzR = 100 ΩL = 250 mHC = 47 µF
f0 = Hz
15.AC power & power factorMedium
P = 7 kWQ = ?Sφ

A single-phase motor takes 7 kW at a power factor of 0.9 lagging from a 400 V supply. Find the reactive power Q it draws.

P = 7 kWpf = 0.9V = 400 V
Q = kvar
16.AC power & power factorHard
P1​ = 91 kWQ1​S1​φ

A 150 kVA single-phase transformer supplies a load of 91 kW at a power factor of 0.85 lagging. How much extra real power ΔP can be added as a resistive (unity power factor) load before the transformer reaches its kVA rating?

Smax = 150 kVAP1 = 91 kWpf1 = 0.85
ΔP = kW
17.Three-phase powerMedium
ABCVL​ = 690 VIL​ = ?M90 kW, η = 88%cos φ = 0.84

A three-phase induction motor delivers 90 kW of mechanical output power at full load. At this load its efficiency is 88% and its power factor is 0.84 lagging. The supply has a line-to-line voltage of 690 V. Find the line current IL.

Pout = 90 kWη = 88%cos φ = 0.84VL = 690 V
IL = A
18.Three-phase powerHard
P = 50 kWφ1​S1​Q2​QC​

A balanced three-phase load takes 50 kW at a power factor of 0.7 lagging from a 480 V (line-to-line), 50 Hz supply. A three-phase capacitor bank in parallel with the load must raise the overall power factor to 0.92 lagging. The real power stays the same. The capacitors are connected in Δ. Find the capacitance Cph of each capacitor in µF.

P = 50 kWpf1 = 0.7pf2 = 0.92VL = 480 Vf = 50 Hz
Cph = µF
19.TransformersMedium
2400 V240 VIHV​ = ?ILV​150 kVA

A single-phase 150 kVA, 2400/240 V transformer operates at its rated load. Treat it as ideal. Find the current IHV in the high-voltage winding.

S = 150 kVAV1 = 2400 VV2 = 240 V
IHV = A
20.TransformersHard
100 kVA

A single-phase 100 kVA transformer has a core loss of 600 W and a copper loss of 1500 W at rated load. At what load Sη,max, in kVA, is its efficiency highest?

S = 100 kVAPcore = 600 WPcu,fl = 1500 W
Sη,max = kVA
21.Op-amp circuitsMedium
−+Vout​Rf​ = 2 kΩR1​ = 2 kΩVin​ = 1.5 V

The op-amp is ideal and runs from ±15 V supplies. Find the output voltage Vout.

Vin = 1.5 VR1 = 2 kΩRf = 2 kΩ
Vout = V
22.Op-amp circuitsHard
−+Vout​Rf​ = 22 kΩV1​ = 1.3 VR1​ = 10 kΩV2​ = 0.5 VR2​ = 47 kΩIf​

The summing amplifier uses an ideal op-amp with ±15 V supplies. Find the current If through the feedback resistor, flowing towards the output.

V1 = 1.3 VV2 = 0.5 VR1 = 10 kΩR2 = 47 kΩRf = 22 kΩ
If = mA
23.Diodes & transistorsMedium
RC​ = 2.2 kΩβ = 100IC​ = ?RE​ = 680 ΩVCC​ = 20 VR1​ = 33 kΩR2​ = 10 kΩ

An NPN transistor with β = 100 has voltage-divider bias from VCC = 20 V: R₁ = 33 kΩ from VCC to the base and R₂ = 10 kΩ from the base to ground. The collector resistor is RC = 2.2 kΩ and the emitter resistor is RE = 680 Ω. Take VBE = 0.7 V and use the Thévenin equivalent of the divider (do not neglect the base current). Find the collector current IC in mA.

VCC = 20 VR1 = 33 kΩR2 = 10 kΩRC = 2.2 kΩRE = 680 Ωβ = 100
IC = mA
24.Diodes & transistorsHard
RC​ = 470 Ωβ = 150IC​ = ?VCC​ = 5 V3.3 VRB​ = 2.2 kΩ

An NPN transistor with β = 150 switches a 470 Ω load resistor connected between VCC = 5 V and its collector. The emitter is grounded. The base is driven from a 3.3 V logic output through a base resistor RB = 2.2 kΩ. Take VBE = 0.7 V and VCE(sat) = 0.2 V. Find the collector current IC in mA when the input is high. Decide first whether the transistor is saturated.

VCC = 5 VRC = 470 Ωβ = 150Vin = 3.3 VVBE = 0.7 VVCE(sat) = 0.2 VRB = 2.2 kΩ
IC = mA
25.Number systemsMedium
8-bit two's complement?−128?64?32?16?8?4?2?1

Write −119 as an 8-bit two's complement pattern. Read the pattern as an unsigned binary number: what is its value U in decimal?

N = −1198 bit
U =
26.Number systemsHard
12-bit two's complement, N = ??sign???????????

What is the most negative integer N that can be stored in 12-bit two's complement?

12 bit
N =
27.Digital logic: gates, K-maps & flip-flopsMedium
ABC000111100101324576

Simplify F = AB′C + ABC + ABC′ to its minimal sum-of-products form. How many literals L does the simplified expression contain?

F = AB′C + ABC + ABC′
L =
28.Digital logic: gates, K-maps & flip-flopsHard
ABCD00011110000111100011130204150716012013X15X140809011010

For F(A, B, C, D) = Σm(1, 3, 5, 6) + d(14, 15), where d marks the don't-care conditions, find the number N of essential prime implicants.

F(A, B, C, D) = Σm(1, 3, 5, 6) + d(14, 15)
N =
29.Laplace transformsMedium
t (s)f(t)t = 0.2f(0.2) = ?

Find f(t) for F(s) = (4s + 13)/(s² + 6s + 9) and evaluate f(0.2).

F(s) = (4s + 13)/(s² + 6s + 9)t = 0.2 s
f(0.2) =
30.Laplace transformsHard
t (s)y(t)t = 0.4y(0.4) = ?

A system obeys y″ + 5y′ + 6y = 18·u(t). It starts at rest (y(0) = 0, y′(0) = 0) and the input is a step u(t) = 2 for t ≥ 0. Use the Laplace transform to find the output y(0.4).

y″ + 5y′ + 6y = 18·u(t)u(t) = 2y(0) = 0, y′(0) = 0t = 0.4 s
y(0.4) =
31.Block diagramsMedium
R(s)+10(s + 9)(s + 6)(s + 8)G(s)C(s)−

A unity negative feedback loop has G(s) = 10(s + 9)/((s + 6)(s + 8)). A step of size 5 is applied at the reference. Find the steady-state error ess.

G(s) = 10(s + 9)/((s + 6)(s + 8))R = 5
ess =
32.Block diagramsHard
R(s)+4s + 4G₁+10s + 3G₂C(s)1H₁−1H₂−

Reduce the block diagram with G₁ = 4/(s + 4), G₂ = 10/(s + 3), an inner negative feedback H₁ = 1 around G₂ and an outer negative feedback H₂ = 1. Find the DC gain T(0) of C(s)/R(s).

G₁ = 4/(s + 4)G₂ = 10/(s + 3)H₁ = 1H₂ = 1
T(0) =
33.Step responseMedium
t (s)y(t)2

A system has the transfer function G(s) = 32/(s² + 4s + 16) and receives a unit step input. Find the natural frequency ωn in rad/s.

G(s) = 32/(s² + 4s + 16)
ωn = rad/s
34.Step responseHard
R(s)+270s(s + 12)G(s)C(s)−

A unity negative feedback loop has G(s) = 270/(s(s + 12)). Find the 2 % settling time ts of the closed-loop step response, using ts ≈ 4/(ζωₙ).

G(s) = 270/(s(s + 12))
ts = s
35.Bode plots & marginsMedium
|H| (dB)1101001000−60−40−2002040ω (rad/s)ω = 20

Find the exact magnitude |G(jω)| of G(s) = 4560/((s + 15)(s + 19)) at ω = 20 rad/s, in dB.

G(s) = 4560/((s + 15)(s + 19))ω = 20 rad/s
|G(jω)| = dB
36.Bode plots & marginsHard
|H| (dB)0.10.1111010100100−80−60−40−2002040ω (rad/s)φ (°)ω (rad/s)−180−135−90−450ωc​

A unity-feedback loop has the open-loop transfer function L(s) = 8/(s(s + 2)). Find the phase margin PM in degrees.

L(s) = 8/(s(s + 2))
PM = °
37.Stability: Routh–Hurwitz & root locusMedium
R(s)+Ks + 4(s − 1)(s + 3)C(s)−

The plant G(s) = (s + 4)/((s − 1)(s + 3)) has an unstable pole at s = 1. A proportional gain K closes a unity-feedback loop around it. Find the smallest gain Kmin that makes the closed loop stable.

G(s) = (s + 4)/((s − 1)(s + 3))
Kmin =
38.Stability: Routh–Hurwitz & root locusHard
ReIm−1−2−3−4−5j1j2

For L(s) = K/((s + 3)(s² + 8s + 20)), find the angle of departure θd of the root locus from the complex pole in the upper half-plane, measured from the positive real axis.

L(s) = K/((s + 3)(s² + 8s + 20))
θd = °
39.Steady-state error & PID controlMedium
r(t) = 4t+50s(s + 2)(s + 5)C(s)−

A ramp r(t) = 4t is applied to a unity-feedback loop with G(s) = 50/(s(s + 2)(s + 5)). Find the steady-state error ess.

G(s) = 50/(s(s + 2)(s + 5))r(t) = 4t
ess =
40.Steady-state error & PID controlHard
R(s)+K = 510s(s + 6)C(s)−

A proportional controller K = 5 drives the plant G(s) = 10/(s(s + 6)) in a unity-feedback loop. Find the 2 % settling time ts of the step response, using ts ≈ 4/(ζωₙ).

G(s) = 10/(s(s + 6))K = 5
ts = s

3Solutions

1.Series & parallel resistors

Answer: Req = 13.64 Ω

Series and parallel resistors: in series the same current flows through each resistor and R = R₁ + R₂ + …. In parallel each resistor has the same voltage and 1/R = 1/R₁ + 1/R₂ + …. A ladder network is reduced one pair at a time until a single equivalent resistance remains.

R1​ = 12 ΩR3​ = 5 Ω+−V1​18 VR2​2 ΩAR4​4 ΩB

Combine resistors from the far end

Start at the end farthest from the source and work back towards it. Resistors carrying the same current are in series; resistors across the same two nodes are in parallel.

R3 + R4 = 5 + 4 = 9 Ω
R2 ∥ 9 = 2·9/(2+9) = 1.636 Ω
Req = R1 + 1.636 = 12 + 1.636 = 13.64 Ω

Answer

Req = 13.64 Ω
2.Series & parallel resistors

Answer: Req = 10.91 Ω

Series and parallel resistors: in series the same current flows through each resistor and R = R₁ + R₂ + …. In parallel each resistor has the same voltage and 1/R = 1/R₁ + 1/R₂ + …. A ladder network is reduced one pair at a time until a single equivalent resistance remains.

R1​ = 5 ΩR3​ = 6 ΩR5​ = 25 Ω+−V1​18 VR2​10 ΩAR4​10 ΩBR6​30 Ω

Combine resistors from the far end

Start at the end farthest from the source and work back towards it. Resistors carrying the same current are in series; resistors across the same two nodes are in parallel.

R5 + R6 = 25 + 30 = 55 Ω
R4 ∥ 55 = 8.462 Ω
R3 + 8.462 = 14.46 Ω
R2 ∥ 14.46 = 5.912 Ω
Req = R1 + 5.912 = 5 + 5.912 = 10.91 Ω

Answer

Req = 10.91 Ω
3.Nodal analysis

Answer: VA = 17.4 V

Nodal analysis: choose a reference node, label the unknown node voltages, write Kirchhoff’s current law at each unknown node using Ohm’s law (I = ΔV/R), and solve the resulting equations.

R1​ = 15 ΩR3​ = 10 Ω+−V1​6 VR2​20 ΩAR4​10 ΩBIs​5 A

Set up the nodes

Ground is the bottom wire. Known node voltages come straight from the sources (V1 = 6 V). Unknowns: VA, VB.

KCL at node A

Currents leaving A through the resistors equal the current pushed into A by sources.

VA/R2 + (VA − V1)/R1 + (VA − VB)/R3 = 0
VA/20 + (VA − 6)/15 + (VA − VB)/10 = 0
0.2167·VA − 0.1·VB = 0.4

KCL at node B

Currents leaving B through the resistors equal the current pushed into B by sources.

VB/R4 + (VB − VA)/R3 = Is
VB/10 + (VB − VA)/10 = 5
−0.1·VA + 0.2·VB = 5

Solve

Δ = (0.2167)(0.2) − (−0.1)(−0.1) = 0.03333
VA = Δ1/Δ = 0.58/0.03333 = 17.4 V
VB = Δ2/Δ = 1.123/0.03333 = 33.7 V

Answer

VA = 17.4 V
4.Nodal analysis

Answer: IR1 = 0.4907 A

Nodal analysis: choose a reference node, label the unknown node voltages, write Kirchhoff’s current law at each unknown node using Ohm’s law (I = ΔV/R), and solve the resulting equations.

R1​ = 6 ΩR2​ = 15 ΩR4​ = 12 Ω+−V1​9 VR3​5 ΩAR5​15 ΩBIs​2 A+−V2​15 V

Set up the nodes

Ground is the bottom wire. Known node voltages come straight from the sources (V1 = 9 V, V2 = 15 V). Unknowns: VA, VB.

KCL at node A

Currents leaving A through the resistors equal the current pushed into A by sources.

VA/R3 + (VA − V1)/R1 + (VA − VB)/R2 = 0
VA/5 + (VA − 9)/6 + (VA − VB)/15 = 0
0.4333·VA − 0.06667·VB = 1.5

KCL at node B

Currents leaving B through the resistors equal the current pushed into B by sources.

VB/R5 + (VB − VA)/R2 + (VB − V2)/R4 = Is
VB/15 + (VB − VA)/15 + (VB − 15)/12 = 2
−0.06667·VA + 0.2167·VB = 3.25

Solve

Δ = (0.4333)(0.2167) − (−0.06667)(−0.06667) = 0.08944
VA = Δ1/Δ = 0.5417/0.08944 = 6.056 V
VB = Δ2/Δ = 1.508/0.08944 = 16.86 V

Answer

IR1 = (V1 − VA)/R1 = (9 − 6.056)/6 = 0.4907 A
5.Mesh analysis

Answer: VR1 = 9.474 V

Mesh analysis: give each window of a planar circuit its own loop current, write Kirchhoff’s voltage law around each loop (sum of drops = sum of rises), and solve. Branch currents are the mesh current, or the difference of two mesh currents on a shared branch.

R1​ = 10 ΩR2​ = 4 Ω+−V1​24 VR3​8 ΩA+−V2​18 VI1​I2​

Assign mesh currents

Draw a clockwise current in each window: I1, I2. A resistor shared by two meshes carries the difference of their currents.

KVL around mesh 1

Going clockwise, the voltage drops across resistors equal the source voltage rises (− to + in the direction of travel).

R1·I1 + R3(I1 − I2) = V1
10·I1 + 8(I1 − I2) = 24
18·I1 − 8·I2 = 24

KVL around mesh 2

Going clockwise, the voltage drops across resistors equal the source voltage rises (− to + in the direction of travel).

R2·I2 + R3(I2 − I1) = −V2
4·I2 + 8(I2 − I1) = (−18)
−8·I1 + 12·I2 = −18

Solve

Δ = (18)(12) − (−8)(−8) = 152
I1 = Δ1/Δ = 144/152 = 0.9474 A
I2 = Δ2/Δ = −132/152 = −0.8684 A

Answer

IR1 = I1 = 0.9474 A
VR1 = IR1·R1 = 0.9474·10 = 9.474 V

A negative mesh current flows anticlockwise.

6.Mesh analysis

Answer: VR2 = −6.39 V

Mesh analysis: give each window of a planar circuit its own loop current, write Kirchhoff’s voltage law around each loop (sum of drops = sum of rises), and solve. Branch currents are the mesh current, or the difference of two mesh currents on a shared branch.

R1​ = 3 ΩR2​ = 6 ΩR3​ = 4 Ω+−V1​10 VR4​30 ΩAR5​10 ΩB+−V2​30 VI1​I2​I3​

Assign mesh currents

Draw a clockwise current in each window: I1, I2, I3. A resistor shared by two meshes carries the difference of their currents.

KVL around mesh 1

Going clockwise, the voltage drops across resistors equal the source voltage rises (− to + in the direction of travel).

R1·I1 + R4(I1 − I2) = V1
3·I1 + 30(I1 − I2) = 10
33·I1 − 30·I2 = 10

KVL around mesh 2

Going clockwise, the voltage drops across resistors equal the source voltage rises (− to + in the direction of travel).

R2·I2 + R4(I2 − I1) + R5(I2 − I3) = 0
6·I2 + 30(I2 − I1) + 10(I2 − I3) = 0
−30·I1 + 46·I2 − 10·I3 = 0

KVL around mesh 3

Going clockwise, the voltage drops across resistors equal the source voltage rises (− to + in the direction of travel).

R3·I3 + R5(I3 − I2) = −V2
4·I3 + 10(I3 − I2) = (−30)
−10·I2 + 14·I3 = −30

Solve

Δ = det of the coefficient matrix = 5352
I1 = Δ1/Δ = −3560/5352 = −0.6652 A
I2 = Δ2/Δ = −5700/5352 = −1.065 A
I3 = Δ3/Δ = −15540/5352 = −2.904 A

Answer

IR2 = I2 = −1.065 A
VR2 = IR2·R2 = −1.065·6 = −6.39 V

A negative mesh current flows anticlockwise.

7.Superposition

Answer: IR1 = 0.7632 A

Superposition: in a linear circuit, any voltage or current is the sum of the responses to each independent source acting alone. To switch a source off, replace an ideal voltage source with a short circuit and an ideal current source with an open circuit. Resistors stay where they are.

R1​ = 12 ΩR3​ = 12 Ω+−V1​12 VR2​2 ΩAR4​8 ΩBOPEN

Case 1 · V1 acting alone

Iₛ becomes an open circuit, so R₃ and R₄ form one series branch from A to ground, in parallel with R₂.

R3+R4 = 12+8 = 20 Ω
R2 ∥ (R3+R4) = 2·20/(2+20) = 1.818 Ω
VA = 12·1.818/(12+1.818) = 1.579 V
VB = VA·R4/(R3+R4) = 1.579·8/20 = 0.6316 V
IR1′ = (V1 − VA)/R1 = (12 − 1.579)/12 = 0.8684 A
R1​ = 12 ΩR3​ = 12 ΩSHORTR2​2 ΩAR4​8 ΩBIs​2 A

Case 2 · Is acting alone

V₁ becomes a short, so R₁ is in parallel with R₂. Iₛ splits at B between R₄ and the path through R₃.

R1 ∥ R2 = 12·2/(12+2) = 1.714 Ω
Req = R4 ∥ (R3+R1∥R2) = 8 ∥ 13.71 = 5.053 Ω
VB = Is·Req = 2·5.053 = 10.11 V
VA = VB·(R1∥R2)/(R3+R1∥R2) = 10.11·1.714/13.71 = 1.263 V
IR1″ = (V1 − VA)/R1 = (0 − 1.263)/12 = −0.1053 A

Add the contributions

IR1 = IR1′ + IR1″
IR1 = 0.8684 + (−0.1053) = 0.7632 A

A negative result means the real current flows against the arrow.

8.Superposition

Answer: PR3 = 15.65 W

Superposition: in a linear circuit, any voltage or current is the sum of the responses to each independent source acting alone. To switch a source off, replace an ideal voltage source with a short circuit and an ideal current source with an open circuit. Resistors stay where they are.

R1​ = 10 ΩR2​ = 20 ΩR4​ = 4 Ω+−V1​15 VR3​12 ΩAOPENBSHORT

Case 1 · V1 acting alone

V₂ becomes a short and Iₛ an open circuit. Seen from A, R₃ is in parallel with the series pair R₂+R₄.

R3 ∥ (R2+R4) = 12 ∥ 24 = 8 Ω
VA = 15·8/(10+8) = 6.667 V
VB = VA·R4/(R2+R4) = 6.667·4/24 = 1.111 V
IR3′ = (VA − 0)/R3 = (6.667 − 0)/12 = 0.5556 A
R1​ = 10 ΩR2​ = 20 ΩR4​ = 4 ΩSHORTR3​12 ΩAIs​5 ABSHORT

Case 2 · Is acting alone

Both voltage sources become shorts. Iₛ splits at B between R₄ (now to ground) and R₂ in series with R₁ ∥ R₃.

R1 ∥ R3 = 5.455 Ω, so the left path is R2+5.455 = 25.45 Ω
Req = R4 ∥ 25.45 = 3.457 Ω
VB = Is·Req = 5·3.457 = 17.28 V
VA = VB·5.455/25.45 = 3.704 V
IR3″ = (VA − 0)/R3 = (3.704 − 0)/12 = 0.3086 A
R1​ = 10 ΩR2​ = 20 ΩR4​ = 4 ΩSHORTR3​12 ΩAOPENB+−V2​18 V

Case 3 · V2 acting alone

V₁ becomes a short and Iₛ an open circuit. R₁ ∥ R₃ hangs from A, in series with R₂ back to B.

R1 ∥ R3 = 10·12/(10+12) = 5.455 Ω
VB = V2·(R2+R1∥R3)/(R4+R2+R1∥R3) = 18·25.45/29.45 = 15.56 V
VA = VB·(R1∥R3)/(R2+R1∥R3) = 15.56·5.455/25.45 = 3.333 V
IR3‴ = (VA − 0)/R3 = (3.333 − 0)/12 = 0.2778 A

Add the current contributions

IR3 = IR3′ + IR3″ + IR3‴ = 0.5556 + 0.3086 + 0.2778 = 1.142 A

Power in the resistor

Power depends on the square of the current, so it does not obey superposition: add the currents first, then square.

PR3 = IR3²·R3 = 1.142²·12 = 15.65 W

Answer

PR3 = 15.65 W

Adding the powers of the separate cases would give 5.773 W, which is wrong.

9.Thévenin & Norton

Answer: IL = 0.1613 A

Thévenin’s theorem: any linear two-terminal network behaves like a single voltage source Vth in series with a resistance Rth. Norton’s theorem gives the same network as a current source IN = Vth/Rth in parallel with Rth.

R1​ = 10 ΩR3​ = 8 ΩSHORTR2​3 ΩAabRth​

Find Rth with every source switched off

Replace voltage sources with shorts and current sources with opens, then look into the circuit from a–b.

R1 ∥ R2 = 10·3/(10+3) = 2.308 Ω
Rth = (R1 ∥ R2) + R3 = 2.308 + 8 = 10.31 Ω
R1​ = 10 ΩR3​ = 8 Ω+−V1​10 VR2​3 ΩAab+−Vth​

Find Vth, the open-circuit voltage

With a–b open, no current flows through R₃, so there is no drop across it and V_b = V_A. R₁ and R₂ form a voltage divider.

Vth = V1·R2/(R1+R2) = 10·3/(10+3) = 2.308 V
Rth​ = 10.31 Ω+−Vth​2.308 VRL​4 ΩIL​

Connect the load to the Thévenin equivalent

The Thévenin source and R_th in series behave exactly like the original circuit at a–b, so the load sees a simple series loop.

IL = Vth/(Rth + RL) = 2.308/(10.31 + 4) = 0.1613 A
10.Thévenin & Norton

Answer: IN = 3.043 A

Thévenin’s theorem: any linear two-terminal network behaves like a single voltage source Vth in series with a resistance Rth. Norton’s theorem gives the same network as a current source IN = Vth/Rth in parallel with Rth.

R1​ = 10 ΩR3​ = 10 ΩSHORTR2​30 ΩAOPENBabRth​

Find Rth with every source switched off

Replace voltage sources with shorts and current sources with opens, then look into the circuit from a–b.

R1 ∥ R2 = 10·30/(10+30) = 7.5 Ω
Rth = (R1 ∥ R2) + R3 = 7.5 + 10 = 17.5 Ω
R1​ = 10 ΩR3​ = 10 Ω+−V1​36 VR2​30 ΩAIs​1.5 ABab+−Vth​

Find Vth, the open-circuit voltage

With a–b open, the only path for Iₛ is through R₃ into node A. Find V_A by superposition of V₁ and Iₛ, then add the drop across R₃.

VA = V1·R2/(R1+R2) + Is·(R1∥R2) = 27 + 1.5·7.5 = 38.25 V
Vth = VB = VA + Is·R3 = 38.25 + 1.5·10 = 53.25 V
IN​3.043 ARth​17.5 Ωab

Norton equivalent

A Norton source is the same circuit seen as a current source in parallel with R_th. Its current is the short-circuit current at a–b.

IN = Vth/Rth = 53.25/17.5 = 3.043 A
11.RC & RL transients

Answer: τ = 180.3 ms

First-order transients: in a circuit with one capacitor or one inductor, every voltage and current moves exponentially from its initial value to its final value: x(t) = x(∞) + [x(0) − x(∞)]·e−t/τ, with τ = RC or τ = L/R. After about 5τ the circuit has settled.

Thévenin equivalent seen by the capacitor

Short the source to find Rth; open the capacitor to find the voltage it will settle at.

Rth = R1 ∥ R2 = 10·2.2/(10 + 2.2) = 1.803 kΩ
vC(∞) = 6·2.2/(10 + 2.2) = 1.082 V

Time constant

τ = Rth·C = 1.803·100 = 180.3 ms

Answer

τ = 180.3 ms
12.RC & RL transients

Answer: t = 1094 ms

First-order transients: in a circuit with one capacitor or one inductor, every voltage and current moves exponentially from its initial value to its final value: x(t) = x(∞) + [x(0) − x(∞)]·e−t/τ, with τ = RC or τ = L/R. After about 5τ the circuit has settled.

Initial value, final value, time constant

The capacitor voltage cannot jump, so it starts at its stored value and heads for the source voltage.

vC(0) = 6 V, vC(∞) = Vs = 24 V
τ = R·C = 10 kΩ · 68 µF = 680 ms
vC(t) = 24 + (6 − 24)·e−t/τ

Solve for the time

20.4 = 24 + (−18)·e−t/τ → e−t/τ = (20.4 − 24)/(6 − 24) = 0.2
t = τ·ln((6 − 24)/(20.4 − 24)) = 680·ln(5) = 1094 ms

Answer

t = 1094 ms
13.AC impedance & phasors

Answer: φ = −86.53 °

AC circuits with phasors: resistors, inductors and capacitors have impedances R, jωL and 1/(jωC), with ω = 2πf. In series, impedances add like resistances, but as complex numbers. Rms current and voltage follow Ohm’s law with |Z|.

Reactances

ω = 2πf = 2π·100 = 628.3 rad/s
XL = ωL = 628.3·0.1 = 62.83 Ω
XC = 1/(ωC) = 1/(628.3·2.2·10⁻⁶) = 723.4 Ω

Impedance

In series the impedances add as complex numbers: Z = R + j(XL − XC).

|Z| = √(R² + (XL − XC)²) = √(40² + (−660.6)²) = 661.8 Ω

Phase angle

φ = arctan((XL − XC)/R) = arctan(−660.6/40) = −86.53°

Answer

φ = −86.53°
14.AC impedance & phasors

Answer: f0 = 46.43 Hz

AC circuits with phasors: resistors, inductors and capacitors have impedances R, jωL and 1/(jωC), with ω = 2πf. In series, impedances add like resistances, but as complex numbers. Rms current and voltage follow Ohm’s law with |Z|.

Resonance

At resonance the inductive and capacitive reactances cancel: ωL = 1/(ωC). The supply frequency does not matter.

f0 = 1/(2π√(LC)) = 1/(2π·√(0.25·47·10⁻⁶)) = 46.43 Hz

Answer

f0 = 46.43 Hz
15.AC power & power factor

Answer: Q = 3.39 kvar

AC power: apparent power S = V·I (VA) splits into real power P = S·cos φ (W), which does useful work, and reactive power Q = S·sin φ (var), which moves back and forth between source and load. The power factor is cos φ. A capacitor in parallel supplies reactive power locally, so the line current drops for the same real power.

Angle

φ = arccos(0.9) = 25.84°, tan φ = 0.4843

Reactive power

Q = P·tan φ = 7·0.4843 = 3.39 kvar

Answer

Q = 3.39 kvar
16.AC power & power factor

Answer: ΔP = 47.99 kW

AC power: apparent power S = V·I (VA) splits into real power P = S·cos φ (W), which does useful work, and reactive power Q = S·sin φ (var), which moves back and forth between source and load. The power factor is cos φ. A capacitor in parallel supplies reactive power locally, so the line current drops for the same real power.

Reactive power of the existing load

Q1 = 91·tan(arccos 0.85) = 56.4 kvar

Largest total real power

At full rating S = Smax, and Q is unchanged by the resistive load.

P = √(Smax² − Q1²) = √(150² − 56.4²) = 139 kW

Extra real power

ΔP = 139 − 91 = 47.99 kW

Answer

ΔP = 47.99 kW
17.Three-phase power

Answer: IL = 101.9 A

Balanced three-phase systems: in a Y (star) connection the line-to-line voltage is √3 times the phase voltage, VL = √3·Vph, and the line current equals the phase current. In a Δ (delta) connection the line-to-line voltage equals the phase voltage and the line current is √3 times the phase current, IL = √3·Iph. The total power is three times the power of one phase: P = 3·Vph·Iph·cos φ = √3·VL·IL·cos φ.

Electrical input power

Pin = Pout/η = 90/0.88 = 102.3 kW

Line current

IL = Pin/(√3·VL·cos φ) = 102273/(√3·690·0.84) = 101.9 A

Answer

IL = 101.9 A
18.Three-phase power

Answer: Cph = 136.8 µF

Balanced three-phase systems: in a Y (star) connection the line-to-line voltage is √3 times the phase voltage, VL = √3·Vph, and the line current equals the phase current. In a Δ (delta) connection the line-to-line voltage equals the phase voltage and the line current is √3 times the phase current, IL = √3·Iph. The total power is three times the power of one phase: P = 3·Vph·Iph·cos φ = √3·VL·IL·cos φ. Power factor correction: capacitors supply reactive power locally, QC = P·(tan φ1 − tan φ2). Each of the three capacitors supplies QC/3 = V²·ω·C, where V is the voltage across that capacitor: VL in a Δ bank, VL/√3 in a Y bank.

Reactive power before and after

The real power is unchanged, so each power factor fixes the reactive power: Q = P·tan φ.

Q1 = 50·tan(acos 0.7) = 50·1.02 = 51.01 kvar
Q2 = 50·tan(acos 0.92) = 50·0.426 = 21.3 kvar

Reactive power from the capacitors

QC = Q1 − Q2 = 29.71 kvar

Capacitance per phase

In a Δ bank each capacitor is connected between two lines.

V = 480 V, ω = 2π·50 = 314.2 rad/s
Cph = (QC/3)/(ω·V²) = 9903/(314.2·480²) = 136.8 µF

Answer

Cph = 136.8 µF
19.Transformers

Answer: IHV = 62.5 A

Ideal transformer: the voltages are in the ratio of the turns and the currents in the inverse ratio: V₁/V₂ = N₁/N₂ = a and I₁/I₂ = N₂/N₁ = 1/a, so the power in equals the power out, V₁·I₁ = V₂·I₂. A load impedance Z on the secondary looks like a²·Z from the primary.

Rated current

Both windings carry the same apparent power.

IHV = S/V = 150000/2400 = 62.5 A

Answer

IHV = 62.5 A
20.Transformers

Answer: Sη,max = 63.25 kVA

Transformer losses: the core loss (hysteresis and eddy currents) depends on the voltage and is the same at any load. The copper loss in the windings goes with the current squared, so at a fraction x of rated load it is x²·Pcu,fl. Efficiency η = Pout/(Pout + Pcore + Pcu), with Pout = x·S·pf. The efficiency is highest at the load where the copper loss equals the core loss.

Copper loss equals core loss

x²·1500 = 600 → x = √(600/1500) = 0.6325

Load at maximum efficiency

Sη,max = x·S = 0.6325·100 = 63.25 kVA

Answer

Sη,max = 63.25 kVA
21.Op-amp circuits

Answer: Vout = 3 V

Ideal op-amp rules: with negative feedback, the op-amp drives its output so that its two inputs sit at the same voltage (V₋ = V₊), and no current flows into either input. Writing KCL at the inverting input with these two facts gives the output.

Inverting input follows the input

V₋ = V₊ = 1.5 V
I = V₋/R1 = 1.5/2 = 0.75 mA

Output voltage

The current through R₁ also flows through Rf.

Vout = V₋ + I·Rf = 1.5 + 0.75·2 = 3 V

Answer

Vout = 3 V
22.Op-amp circuits

Answer: If = 0.1406 mA

Ideal op-amp rules: with negative feedback, the op-amp drives its output so that its two inputs sit at the same voltage (V₋ = V₊), and no current flows into either input. Writing KCL at the inverting input with these two facts gives the output.

Input currents

V₋ = 0, so each input resistor has its full input voltage across it.

I1 = V1/R1 = 1.3/10 = 0.13 mA
I2 = V2/R2 = 0.5/47 = 0.01064 mA
If = I1 + I2 = 0.1406 mA

Answer

If = 0.1406 mA
23.Diodes & transistors

Answer: IC = 5.175 mA

BJT bias point: in the active region VBE = 0.7 V, IC = β·IB and IE = (β + 1)·IB. Find IB from the base loop with KVL, then IC, then VCE from the collector–emitter loop. A voltage divider at the base is replaced by its Thévenin equivalent VTH = VCC·R₂/(R₁ + R₂), RTH = R₁∥R₂; an emitter resistor appears (β + 1) times larger in the base loop.

Thévenin equivalent of the divider

VTH = 20·10/(33 + 10) = 4.651 V
RTH = 33·10/(33 + 10) = 7.674 kΩ

Base current

KVL around the base loop; the emitter current is (β + 1)·IB.

IB = (4.651 − 0.7)/(7.674 + 101·0.68) = 51.75 µA

Collector current

IC = 100·51.75 µA = 5.175 mA
IE = 101·51.75 µA = 5.227 mA

Answer

IC = 5.175 mA
24.Diodes & transistors

Answer: IC = 10.21 mA

BJT as a switch: to switch a load fully on, the transistor is driven into saturation, where VCE = VCE(sat) and the collector current is set by the load: IC(sat) = (VCC − VCE(sat))/RC. Saturation needs at least IB = IC(sat)/β. If the base current is smaller, the transistor stays active and IC = β·IB.

Base current

IB = (3.3 − 0.7)/2.2 kΩ = 1182 µA

Saturated or active?

β·IB is larger than IC(sat), so the transistor saturates.

β·IB = 177.3 mA
IC(sat) = (5 − 0.2)/470 = 10.21 mA

Collector current

IC = IC(sat) = 10.21 mA

Answer

IC = 10.21 mA

The transistor is saturated.

25.Number systems

Answer: U = 137

Positional number systems: each digit is worth its value times a power of the base. In binary the places are worth 1, 2, 4, 8, 16, …; in hexadecimal 1, 16, 256, …, with A–F standing for 10–15. In 8-bit two's complement the leftmost bit is worth −128 instead of +128, which is how negative numbers are stored.

Invert and add one

119 = 0111 0111
inverted: 1000 1000
+1 → 1000 1001

Read it as unsigned

1000 1001₂ = 256 − 119 = 137

Answer

U = 137
26.Number systems

Answer: N = −2048

Positional number systems: each digit is worth its value times a power of the base. In binary the places are worth 1, 2, 4, 8, 16, …; in hexadecimal 1, 16, 256, …, with A–F standing for 10–15. In 8-bit two's complement the leftmost bit is worth −128 instead of +128, which is how negative numbers are stored.

Most negative value

−211 = −2048

Answer

N = −2048
27.Digital logic: gates, K-maps & flip-flops

Answer: L = 4

Boolean algebra: the rules that simplify expressions are X + X′ = 1 and X·X′ = 0, X + X = X, absorption X + X·Y = X, the combining rule X·Y + X·Y′ = X, X + X′Y = X + Y and the consensus theorem XY + X′Z + YZ = XY + X′Z. De Morgan's laws turn (X·Y)′ into X′ + Y′ and (X + Y)′ into X′·Y′. A Karnaugh map applies these rules graphically: every group of two neighbouring cells is one use of XY + XY′ = X.

Minterms of the expression

AB′C → m(5)
ABC → m(7)
ABC′ → m(6)
ABC00011110010001030204151716

Group and read off

F = AC + AB

Count the literals

L = 4

Answer

L = 4
28.Digital logic: gates, K-maps & flip-flops

Answer: N = 3

Karnaugh maps: the cells are ordered in Gray code (00, 01, 11, 10), so neighbouring cells, including the ones across the edges, differ in exactly one variable. Group the 1s in rectangles of 1, 2, 4, 8 or 16 cells, as large as possible and as few as possible, until every 1 is covered. Each group is one product term: the variables that stay constant inside it. A group of 2ᵏ cells loses k variables. Don't-cares (X) may be used to make groups bigger but never have to be covered. Grouping the 0s instead gives the minimal POS form.

Prime implicants

The largest groups that can be formed from 1s and Xs.

BCD′, A′C′D, A′B′D
ABCD00011110000111100011130204150716012013X15X140809011010

Essential prime implicants

BCD′, A′C′D, A′B′D
N = 3

Answer

N = 3
29.Laplace transforms

Answer: f(0.2) = 2.305

Laplace transform: F(s) = ∫₀∞ f(t)·e−st dt turns derivatives into multiplications by s: ℒ{f′} = sF(s) − f(0), ℒ{f″} = s²F(s) − s·f(0) − f′(0). Standard pairs: 1 ↔ 1/s, e−at ↔ 1/(s + a), t·e−at ↔ 1/(s + a)², sin ωt ↔ ω/(s² + ω²), cos ωt ↔ s/(s² + ω²), and a shift s → s + σ multiplies the time function by e−σt. To invert a rational F(s), split it into partial fractions: the residue of a simple pole p is A = [(s − p)·F(s)] at s = p. Final value theorem: f(∞) = lims→0 s·F(s), valid only when all poles of s·F(s) lie in the left half-plane. Initial value theorem: f(0⁺) = lims→∞ s·F(s).

Factor the denominator

s² + 6s + 9 = (s + 3)²

Partial fractions

4s + 13 = 4(s + 3) + 1
F(s) = 4/(s + 3) + 1/(s + 3)²

Inverse transform

f(t) = 4·e−3t + t·e−3t
f(0.2) = (4 + 1·0.2)·e−3·0.2 = 2.305

Answer

f(0.2) = 2.305
30.Laplace transforms

Answer: y(0.4) = 1.526

Laplace transform: F(s) = ∫₀∞ f(t)·e−st dt turns derivatives into multiplications by s: ℒ{f′} = sF(s) − f(0), ℒ{f″} = s²F(s) − s·f(0) − f′(0). Standard pairs: 1 ↔ 1/s, e−at ↔ 1/(s + a), t·e−at ↔ 1/(s + a)², sin ωt ↔ ω/(s² + ω²), cos ωt ↔ s/(s² + ω²), and a shift s → s + σ multiplies the time function by e−σt. To invert a rational F(s), split it into partial fractions: the residue of a simple pole p is A = [(s − p)·F(s)] at s = p. Final value theorem: f(∞) = lims→0 s·F(s), valid only when all poles of s·F(s) lie in the left half-plane. Initial value theorem: f(0⁺) = lims→∞ s·F(s).

Transform the equation

Y(s) = 36/(s(s + 2)(s + 3))

Partial fractions

A = 36/(2·3) = 6
B = 36/((−2)·1) = −18
C = 36/((−3)·(−1)) = 12

Output

y(t) = 6 − 18·e−2t + 12·e−3t
y(0.4) = 1.526

Answer

y(0.4) = 1.526
31.Block diagrams

Answer: ess = 1.739

Block-diagram algebra: blocks in series multiply (G₁·G₂), blocks in parallel add (G₁ + G₂), and a loop with forward path G and feedback path H reduces to T = G/(1 + G·H) for negative feedback and G/(1 − G·H) for positive feedback. Reduce inner loops first, then work outwards. The closed-loop poles are the roots of the characteristic equation 1 + G(s)H(s) = 0. For a stable loop, a step input of size A gives the steady-state output A·T(0); with unity feedback the steady-state error to a step is A/(1 + Kp) with Kp = G(0).

Position error constant

Kₚ = G(0) = 10·9/(6·8) = 1.875

Steady-state error

ess = A/(1 + Kₚ) = 5/(1 + 1.875) = 1.739

Answer

ess = 1.739
32.Block diagrams

Answer: T(0) = 0.4348

Block-diagram algebra: blocks in series multiply (G₁·G₂), blocks in parallel add (G₁ + G₂), and a loop with forward path G and feedback path H reduces to T = G/(1 + G·H) for negative feedback and G/(1 − G·H) for positive feedback. Reduce inner loops first, then work outwards. The closed-loop poles are the roots of the characteristic equation 1 + G(s)H(s) = 0. For a stable loop, a step input of size A gives the steady-state output A·T(0); with unity feedback the steady-state error to a step is A/(1 + Kp) with Kp = G(0).

Inner loop

Gᵢ = G₂/(1 + G₂H₁) = 10/(s + 13)

Outer loop

T(s) = G₁Gᵢ/(1 + G₁GᵢH₂) = 40/((s + 4)(s + 13) + 40)

DC gain

T(0) = 40/(4·13 + 40) = 40/92 = 0.4348

Answer

T(0) = 0.4348
33.Step response

Answer: ωn = 4 rad/s

Step response: a first-order system G(s) = K/(τs + 1) answers a step of size U with y(t) = K·U·(1 − e−t/τ): it reaches 63.2 % of the final value K·U after one time constant τ and 98 % after 4τ. A second-order system G(s) = K·ωₙ²/(s² + 2ζωₙs + ωₙ²) has the poles s = −ζωₙ ± jωd with ωd = ωₙ√(1 − ζ²). For 0 < ζ < 1 the step response overshoots: percent overshoot %OS = 100·e−ζπ/√(1−ζ²), peak time tp = π/ωd, and the 2 % settling time ts ≈ 4/(ζωₙ). Compare the denominator with s² + 2ζωₙs + ωₙ² to read off ωₙ and ζ. For a mass–spring–damper ωₙ = √(k/m) and ζ = c/(2√(km)); for a series RLC circuit ωₙ = 1/√(LC) and ζ = (R/2)·√(C/L).

Compare with the standard form

The denominator must match s² + 2ζωₙs + ωₙ².

ωₙ² = 16 → ωₙ = 4 rad/s
2ζωₙ = 4 → ζ = 4/(2·4) = 0.5

Result

ωₙ = 4 rad/s

Answer

ωn = 4 rad/s
34.Step response

Answer: ts = 0.6667 s

Step response: a first-order system G(s) = K/(τs + 1) answers a step of size U with y(t) = K·U·(1 − e−t/τ): it reaches 63.2 % of the final value K·U after one time constant τ and 98 % after 4τ. A second-order system G(s) = K·ωₙ²/(s² + 2ζωₙs + ωₙ²) has the poles s = −ζωₙ ± jωd with ωd = ωₙ√(1 − ζ²). For 0 < ζ < 1 the step response overshoots: percent overshoot %OS = 100·e−ζπ/√(1−ζ²), peak time tp = π/ωd, and the 2 % settling time ts ≈ 4/(ζωₙ). Compare the denominator with s² + 2ζωₙs + ωₙ² to read off ωₙ and ζ. For a mass–spring–damper ωₙ = √(k/m) and ζ = c/(2√(km)); for a series RLC circuit ωₙ = 1/√(LC) and ζ = (R/2)·√(C/L).

Closed-loop transfer function

T(s) = 270/(s² + 12s + 270): ωₙ = 16.43 rad/s, ζ = 0.3651

Settling time

ζωₙ = 12/2 = 6
ts ≈ 4/(ζωₙ) = 0.6667 s

Answer

ts = 0.6667 s

For this loop ζωₙ = a/2 whatever K is: raising K adds overshoot but does not shorten the settling time.

35.Bode plots & margins

Answer: |G(jω)| = 16.41 dB

Frequency response: substitute s = jω in the transfer function. The magnitude in decibels is 20·log₁₀|H(jω)| and the phase is the sum of the angles of the numerator factors minus those of the denominator factors. A first-order RC or RL filter has its corner (−3 dB) frequency at ωc = 1/(RC) or R/L, and fc = ωc/(2π); a low-pass filter gives |H| = 1/√(1 + (ω/ωc)²) and φ = −atan(ω/ωc). In the asymptotic (straight-line) Bode plot each pole bends the magnitude down by 20 dB/decade at its corner frequency, each zero bends it up by 20 dB/decade, and an integrator 1/s gives −20 dB/decade at all frequencies. Gain crossover ωc: |L(jω)| = 1 (0 dB); phase margin PM = 180° + ∠L(jωc). Phase crossover ω180: ∠L(jω) = −180°; gain margin GM = −20·log₁₀|L(jω180)| dB. The closed loop is stable when both margins are positive.

Multiply the magnitudes

|G(j20)| = 4560/(√(20² + 15²)·√(20² + 19²)) = 4560/(25·27.59) = 6.612

Result

20·log₁₀(6.612) = 16.41 dB

Answer

|G(jω)| = 16.41 dB
36.Bode plots & margins

Answer: PM = 38.67 °

Frequency response: substitute s = jω in the transfer function. The magnitude in decibels is 20·log₁₀|H(jω)| and the phase is the sum of the angles of the numerator factors minus those of the denominator factors. A first-order RC or RL filter has its corner (−3 dB) frequency at ωc = 1/(RC) or R/L, and fc = ωc/(2π); a low-pass filter gives |H| = 1/√(1 + (ω/ωc)²) and φ = −atan(ω/ωc). In the asymptotic (straight-line) Bode plot each pole bends the magnitude down by 20 dB/decade at its corner frequency, each zero bends it up by 20 dB/decade, and an integrator 1/s gives −20 dB/decade at all frequencies. Gain crossover ωc: |L(jω)| = 1 (0 dB); phase margin PM = 180° + ∠L(jωc). Phase crossover ω180: ∠L(jω) = −180°; gain margin GM = −20·log₁₀|L(jω180)| dB. The closed loop is stable when both margins are positive.

Gain crossover

ω⁴ + 4ω² − 64 = 0
ω² = (−4 + √(16 + 4·64))/2 = 6.246
ωc = 2.499 rad/s

Phase margin

∠L(jωc) = −90° − atan(2.499/2) = −141.3°
PM = 180° + ∠L = 38.67°

Answer

PM = 38.67°
37.Stability: Routh–Hurwitz & root locus

Answer: Kmin = 0.75

Routh–Hurwitz criterion: a linear system is stable when every root of its characteristic polynomial lies in the left half of the s-plane. Write the coefficients alternately into the first two rows of the Routh array. Each entry of a new row comes from the two rows above it; for a cubic a₃s³ + a₂s² + a₁s + a₀ the s¹ entry is b₁ = (a₂·a₁ − a₃·a₀)/a₂. The number of sign changes in the first column equals the number of roots in the right half-plane. With a gain K in the coefficients, every first-column entry must stay positive: the gain that makes the s¹ entry zero is the stability limit, and the s² row then gives the frequency of the sustained oscillation.

Characteristic polynomial

(s − 1)(s + 3) + K(s + 4) = s² + (2 + K)s + (4K − 3)

Conditions

For s² + c₁s + c₀ all roots lie in the left half-plane exactly when c₁ > 0 and c₀ > 0.

2 + K > 0 → K > −2
4K − 3 > 0 → K > 0.75
Kmin = 0.75

Answer

Kmin = 0.75
38.Stability: Routh–Hurwitz & root locus

Answer: θd = −26.57 °

Root locus: as the gain K goes from 0 to ∞, the closed-loop poles, the roots of 1 + K·G(s) = 0, move from the open-loop poles to the open-loop zeros or to infinity. A point on the real axis belongs to the locus when the number of real poles and zeros to its right is odd. The n − m branches that go to infinity follow asymptotes at the angles (2q + 1)·180°/(n − m), which start from the centroid σₐ = (Σ poles − Σ zeros)/(n − m). Branches leave or join the real axis where dK/ds = 0. The angle condition ∠G(s) = 180° fixes the shape, and the magnitude condition K = 1/|G(s)| gives the gain at any point of the locus.

Pole locations

s² + 8s + 20 = 0 → s = −4 ± j2
s = −3

Angles from the other poles

∠(−4 + j2 + 3) = atan2(2, -1) = 116.6°
∠(−4 + j2 − (−4 − j2)) = ∠(j4) = 90°

Angle of departure

θd = 180° − 116.6° − 90° = −26.57°

Answer

θd = −26.57°
39.Steady-state error & PID control

Answer: ess = 0.8

Steady-state error: in a unity-feedback loop with open-loop transfer function G(s) the error is E(s) = R(s)/(1 + G(s)), and by the final value theorem ess = lims→0 s·E(s). The system type is the number of poles of G(s) at s = 0. The error constants are Kp = lim G(s), Kv = lim s·G(s) and Ka = lim s²·G(s), all for s → 0. A step of size A gives ess = A/(1 + Kp), a ramp A·t gives A/Kv and a parabola A·t²/2 gives A/Ka. A type-0 loop follows a step with a finite error, a type-1 loop follows it exactly and a ramp with a finite error.

Velocity constant

Kv = lim s·G(s) = 5

Ramp error

ess = 4/5 = 0.8

Answer

ess = 0.8
40.Steady-state error & PID control

Answer: ts = 1.333 s

P, PI and PID control: the controller C(s) = Kp + Ki/s + Kd·s acts on the error. A proportional gain makes the loop faster and reduces the error of a type-0 plant, but never removes it. The integral term adds a pole at s = 0: the system type rises by one, and a step is followed without error. The derivative term adds damping. To choose gains, write the closed-loop characteristic polynomial and compare it with s² + 2ζωns + ωn². Then %OS = 100·e−ζπ/√(1−ζ²), tp = π/ωd with ωd = ωn√(1 − ζ²), and ts ≈ 4/(ζωn).

Characteristic polynomial

s(s + 6) + 5·10 = s² + 6s + 50

ωₙ and ζ

ωₙ = √50 = 7.071 rad/s
ζ = 6/(2·7.071) = 0.4243

Settling time

ζωₙ = 6/2 = 3
ts ≈ 4/3 = 1.333 s

Answer

ts = 1.333 s

The settling time does not depend on K here: raising K only makes the response oscillate faster.

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