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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
Start at the end of the network furthest from the terminals.
Combine resistors in series by adding them, and resistors in parallel with 1/R = 1/R₁ + 1/R₂ + …
Redraw the circuit after each step.
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
Choose a reference node (ground) and label the other node voltages.
Write Kirchhoff’s current law at every unknown node: currents leaving through each branch equal the currents entering.
Express every branch current as (Va − Vb)/R.
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
Draw a clockwise current in every mesh (window) of the circuit.
Apply Kirchhoff’s voltage law around each mesh: the sum of voltage drops is zero.
In a resistor shared by two meshes the current is the difference of the two mesh currents.
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
Count the independent sources. You will solve one simpler circuit per source.
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).
Solve the simpler circuit for the voltage or current you need, keeping track of its direction.
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
Remove the load and mark the two terminals a and b.
Find the open-circuit voltage between a and b: this is Vth.
Switch off all independent sources and find the resistance seen from a–b: this is Rth.
Put the load back on the equivalent circuit: Vth in series with Rth.
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
Find the initial value just after switching: a capacitor voltage and an inductor current cannot jump.
Find the final value long after switching: a capacitor acts as an open circuit, an inductor as a short circuit.
Find the time constant: τ = RC or τ = L/R, using the resistance seen by the capacitor or inductor.
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
Convert the frequency: ω = 2πf.
Find each reactance: XL = ωL and XC = 1/(ωC).
Add impedances like resistors, with Z = R + jX.
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
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.
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.
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.
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
Write the closed-loop characteristic polynomial: the denominator of 1 + K·G(s) = 0, multiplied out.
Put the coefficients alternately into the first two rows of the Routh array and build the remaining rows.
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.
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
Count the poles of the open loop C(s)·G(s) at s = 0: that is the system type.
Work out the error constant that matches the input: Kp for a step, Kv for a ramp, Ka for a parabola.
Apply ess = A/(1 + Kp), A/Kv or A/Ka, or solve it for the gain you need.
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
Find the current IR2 through R2.
V1 = 12 VR1 = 10 ΩR2 = 12 ΩR3 = 4 ΩR4 = 15 Ω
IR2 = A
2.Series & parallel resistorsHard
Find the current IR1 delivered by the source, which flows through R1.
The voltage source Vₛ between A and B has its + terminal at B, so it makes VB − VA = Vₛ. Use nodal analysis with a supernode to find the node voltage VB (measured from ground).
Is = 1.5 AVs = 3 VR1 = 3 ΩR2 = 3 Ω
VB = V
4.Nodal analysisHard
Use nodal analysis to find the node voltage VA (measured from ground).
Find the Thévenin voltage Vth seen from terminals a–b.
V1 = 30 VR1 = 3 ΩR2 = 4 ΩR3 = 12 Ω
Vth = V
10.Thévenin & NortonHard
Find the Norton current IN: the current that flows from a to b if the terminals are shorted.
V1 = 15 VIs = 3 AR1 = 4 ΩR2 = 4 ΩR3 = 12 Ω
IN = A
11.RC & RL transientsMedium
The inductor carries no current before the switch closes at t = 0. Find the energy W stored in the inductor at t = 1 ms, in mJ.
Vs = 24 VR = 47 ΩL = 10 mHt = 1 ms
W = mJ
12.RC & RL transientsHard
The switch has been closed for a long time, so the circuit is in steady state. At t = 0 the switch opens. Find the current i2 through R2 at t = 400 ms.
Vs = 20 VR1 = 3.3 kΩR2 = 4.7 kΩC = 68 µFt = 400 ms
i2 = mA
13.AC impedance & phasorsMedium
A series RLC circuit is connected to a 24 V (rms), 200 Hz supply. Find the real power P taken from the supply.
V = 24 V (rms)f = 200 HzR = 40 ΩL = 50 mHC = 2.2 µF
P = W
14.AC impedance & phasorsHard
A series RLC circuit has R = 10 Ω, L = 100 mH and C = 0.22 µF. Find its bandwidth B (the width of the band between the half-power frequencies), in Hz.
R = 10 ΩL = 100 mHC = 0.22 µF
B = Hz
15.AC power & power factorMedium
A single-phase motor takes 22 kW at a power factor of 0.75 lagging from a 240 V supply. Find the line current I.
P = 22 kWpf = 0.75V = 240 V
I = A
16.AC power & power factorHard
A single-phase load takes 5 kW at a power factor of 0.7 lagging from a 400 V, 60 Hz supply. A capacitor connected in parallel raises the power factor to 0.98. Find the reactive power QC the capacitor must supply.
P = 5 kWpf1 = 0.7pf2 = 0.98V = 400 Vf = 60 Hz
QC = kvar
17.Three-phase powerMedium
A balanced three-phase load draws a line current of 150 A from a supply with a line-to-line voltage of 415 V. The power factor is 0.75 lagging. Find the total real power P drawn by the load in kW.
VL = 415 VIL = 150 Acos φ = 0.75
P = kW
18.Three-phase powerHard
A balanced three-phase load takes 100 kW at a power factor of 0.75 lagging from a 480 V (line-to-line), 60 Hz supply. A three-phase capacitor bank in parallel with the load must raise the overall power factor to 0.95 lagging. The real power stays the same. The capacitors are connected in Y. Find the capacitance Cph of each capacitor in µF.
P = 100 kWpf1 = 0.75pf2 = 0.95VL = 480 Vf = 60 Hz
Cph = µF
19.TransformersMedium
An ideal transformer with a turns ratio N₁:N₂ = 5:1 has 1200 V applied to its primary winding. An 8 Ω resistor is connected across the secondary winding. Find the primary current I1.
N1:N2 = 5:1V1 = 1200 VRL = 8 Ω
I1 = A
20.TransformersHard
A single-phase 500 kVA transformer has a core loss of 2500 W and a copper loss of 3750 W at rated load. At what load Sη,max, in kVA, is its efficiency highest?
S = 500 kVAPcore = 2500 WPcu,fl = 3750 W
Sη,max = kVA
21.Op-amp circuitsMedium
Choose the feedback resistor Rf that gives this non-inverting amplifier a voltage gain of 15.
R1 = 22 kΩAv = 15
Rf = kΩ
22.Op-amp circuitsHard
The summing amplifier uses an ideal op-amp with ±15 V supplies. Find the output voltage Vout.
An NPN transistor with β = 50 is biased by a base resistor RB = 470 kΩ from the supply VCC = 15 V. The collector resistor is RC = 1.2 kΩ and the emitter is grounded. Take VBE = 0.7 V and assume the transistor is in the active region. Find the collector current IC in mA.
VCC = 15 VRB = 470 kΩRC = 1.2 kΩβ = 50VBE = 0.7 V
IC = mA
24.Diodes & transistorsHard
An NPN transistor with β = 200 switches a 1 kΩ load resistor connected between VCC = 24 V and its collector. The emitter is grounded. The base is driven from a 5 V logic output through a base resistor RB. Take VBE = 0.7 V and VCE(sat) = 0.2 V. Find the largest base resistor RB, in kΩ, that still drives the transistor just into saturation.
Simplify F = AB′C′ + B′C + AC′ + AB to its minimal sum-of-products form. How many literals L does the simplified expression contain?
F = AB′C′ + B′C + AC′ + AB
L =
28.Digital logic: gates, K-maps & flip-flopsHard
Find the minimal SOP form of F(A, B, C, D) = Σm(0, 3, 4, 6, 8, 9, 11) + d(7, 10), where d marks the don't-care conditions. How many literals L does it contain?
Find f(t) for F(s) = (3s + 11)/(s² + 2s + 17) by completing the square, and evaluate f(0.25).
F(s) = (3s + 11)/(s² + 2s + 17)t = 0.25 s
f(0.25) =
30.Laplace transformsHard
A system obeys y″ + 8y′ + 12y = 24·u(t), with y(0) = 4 and y′(0) = 0. At t = 0 a step input u(t) = 5 is applied. Use the Laplace transform to find y(0.25).
The plant G(s) = 3/(s + 6) has an inner (minor) negative feedback loop with gain H₁ = 2. A controller gain K = 10 and an outer unity negative feedback loop close the system. Find the closed-loop pole p.
G(s) = 3/(s + 6)H₁ = 2K = 10
p =
32.Block diagramsHard
Reduce the block diagram with G₁ = 3/(s + 1), G₂ = 1/(s + 6), an inner negative feedback H₁ = 1 around G₂ and an outer negative feedback H₂ = 0.5. Find the DC gain T(0) of C(s)/R(s).
G₁ = 3/(s + 1)G₂ = 1/(s + 6)H₁ = 1H₂ = 0.5
T(0) =
33.Step responseMedium
A system has the transfer function G(s) = 88/(s² + 9s + 44) and receives a unit step input. Find the percent overshoot %OS of the step response.
G(s) = 88/(s² + 9s + 44)
%OS = %
34.Step responseHard
A unity negative feedback loop has G(s) = 20/(s(s + 2)). Find the 2 % settling time ts of the closed-loop step response, using ts ≈ 4/(ζωₙ).
G(s) = 20/(s(s + 2))
ts = s
35.Bode plots & marginsMedium
Find the exact magnitude |G(jω)| of G(s) = 1836/((s + 9)(s + 17)) at ω = 10 rad/s, in dB.
G(s) = 1836/((s + 9)(s + 17))ω = 10 rad/s
|G(jω)| = dB
36.Bode plots & marginsHard
A unity-feedback loop has the open-loop transfer function L(s) = 17/(s(s + 5)). Find the gain crossover frequency ωc, where |L(jω)| = 1.
L(s) = 17/(s(s + 5))
ωc = rad/s
37.Stability: Routh–Hurwitz & root locusMedium
The loop in the diagram has the open-loop transfer function L(s) = K/(s(s + 1)(s + 4)). The gain is raised until the closed loop is on the edge of stability. Find the frequency ω of the sustained oscillation.
L(s) = K/(s(s + 1)(s + 4))
ω = rad/s
38.Stability: Routh–Hurwitz & root locusHard
The root locus of L(s) = K(s + 6)/(s(s + 2)) leaves the real axis between s = 0 and s = −2, circles round and joins the real axis again to the left of the zero. Find the break-away point sb.
L(s) = K(s + 6)/(s(s + 2))
sb =
39.Steady-state error & PID controlMedium
A unity-feedback loop has G(s) = K/((s + 2)(s + 4)). Find the gain K that gives a steady-state error of 2 % for a step input.
G(s) = K/((s + 2)(s + 4))ess = 2 %
K =
40.Steady-state error & PID controlHard
A proportional controller K drives the plant G(s) = 1/(s(s + 10)) in a unity-feedback loop. Find the gain K that gives the closed loop a damping ratio ζ = 0.4.
G(s) = 1/(s(s + 10))ζ = 0.4
K =
3Solutions
1.Series & parallel resistors
Answer: IR2 = 0.4238 A
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.
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 = 4 + 15 = 19 Ω
R2 ∥ 19 = 12·19/(12+19) = 7.355 Ω
Req = R1 + 7.355 = 10 + 7.355 = 17.35 Ω
Current from the source
The source sees only Req, so Ohm’s law gives the current it delivers. That current flows through R₁.
IR1 = V1/Req = 12/17.35 = 0.6914 A
Current through R₂
Subtract the drop across R₁ to get the voltage at node A, which is the voltage across R₂.
VA = V1 − IR1·R1 = 12 − 0.6914·10 = 5.086 V
IR2 = VA/R2 = 5.086/12 = 0.4238 A
Answer
IR2 = 0.4238 A
2.Series & parallel resistors
Answer: IR1 = 0.8941 A
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.
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 = 5 + 6 = 11 Ω
R4 ∥ 11 = 1.692 Ω
R3 + 1.692 = 31.69 Ω
R2 ∥ 31.69 = 3.552 Ω
Req = R1 + 3.552 = 30 + 3.552 = 33.55 Ω
Current from the source
The source sees only Req, so Ohm’s law gives the current it delivers. That current flows through R₁.
IR1 = V1/Req = 30/33.55 = 0.8941 A
Answer
IR1 = 0.8941 A
3.Nodal analysis
Answer: VB = 3.75 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.
Form a supernode
The voltage source between A and B carries an unknown current, so KCL cannot be written at A or B separately. Enclose A, B and the source in one supernode: the current entering it equals the current leaving it.
VB = VA + Vs = VA + 3
VA/R1 + VB/R2 = Is
Solve
VA/3 + (VA + 3)/3 = 1.5
VA = (1.5 − 3/3)/(1/3 + 1/3) = 0.75 V
VB = 0.75 + 3 = 3.75 V
Answer
VB = 3.75 V
4.Nodal analysis
Answer: VA = 10.22 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.
Set up the nodes
Ground is the bottom wire. Known node voltages come straight from the sources (V1 = 12 V, V2 = 12 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/8 + (VA − 12)/12 + (VA − VB)/6 = 0
0.375·VA − 0.1667·VB = 1
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/4 + (VB − VA)/6 + (VB − 12)/8 = 6
−0.1667·VA + 0.5417·VB = 7.5
Solve
Δ = (0.375)(0.5417) − (−0.1667)(−0.1667) = 0.1753
VA = Δ1/Δ = 1.792/0.1753 = 10.22 V
VB = Δ2/Δ = 2.979/0.1753 = 16.99 V
Answer
VA = 10.22 V
5.Mesh analysis
Answer: IR1 = −1.6 A
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.
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
3·I1 + 6(I1 − I2) = 12
9·I1 − 6·I2 = 12
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
3·I2 + 6(I2 − I1) = (−30)
−6·I1 + 9·I2 = −30
Solve
Δ = (9)(9) − (−6)(−6) = 45
I1 = Δ1/Δ = −72/45 = −1.6 A
I2 = Δ2/Δ = −198/45 = −4.4 A
Answer
IR1 = I1 = −1.6 A
A negative mesh current flows anticlockwise.
6.Mesh analysis
Answer: IR1 = 0.8226 A
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.
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
8·I1 + 8(I1 − I2) = 12
16·I1 − 8·I2 = 12
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
8·I2 + 8(I2 − I1) + 8(I2 − I3) = 0
−8·I1 + 24·I2 − 8·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
20·I3 + 8(I3 − I2) = (−12)
−8·I2 + 28·I3 = −12
Solve
Δ = det of the coefficient matrix = 7936
I1 = Δ1/Δ = 6528/7936 = 0.8226 A
I2 = Δ2/Δ = 1152/7936 = 0.1452 A
I3 = Δ3/Δ = −3072/7936 = −0.3871 A
Answer
IR1 = I1 = 0.8226 A
A negative mesh current flows anticlockwise.
7.Superposition
Answer: PR3 = 4.04 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.
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.
Power depends on the square of the current, so it does not obey superposition: add the currents first, then square.
PR3 = IR3²·R3 = (−0.6356)²·10 = 4.04 W
Answer
PR3 = 4.04 W
Adding the powers of the separate cases would give 11.8 W, which is wrong.
8.Superposition
Answer: IR2 = 4.133 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.
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.
A negative result means the real current flows against the arrow.
9.Thévenin & Norton
Answer: Vth = 17.14 V
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.
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 = 3·4/(3+4) = 1.714 Ω
Rth = (R1 ∥ R2) + R3 = 1.714 + 12 = 13.71 Ω
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) = 30·4/(3+4) = 17.14 V
10.Thévenin & Norton
Answer: IN = 3.536 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.
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 = 4·4/(4+4) = 2 Ω
Rth = (R1 ∥ R2) + R3 = 2 + 12 = 14 Ω
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) = 7.5 + 3·2 = 13.5 V
Vth = VB = VA + Is·R3 = 13.5 + 3·12 = 49.5 V
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 = 49.5/14 = 3.536 A
11.RC & RL transients
Answer: W = 1.28 mJ
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.
Time constant and final current
Long after the switch closes the inductor behaves like a short circuit, so the final current is set by R alone.
τ = L/R = 10 mH / 47 Ω = 0.2128 ms
i(∞) = Vs/R = 24/47 = 0.5106 A
Current at the given time
i(t) = 0.5106·(1 − e−1/0.2128) = 0.506 A
Stored energy
W = ½·L·i² = ½·10·0.506² = 1.28 mJ
Answer
W = 1.28 mJ
12.RC & RL transients
Answer: i2 = 0.7151 mA
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 capacitor voltage
In steady state the capacitor is an open circuit, so R₁ and R₂ form a voltage divider. The capacitor voltage cannot jump when the switch opens.
vC(0) = 20·4.7/(3.3 + 4.7) = 11.75 V
Time constant after the switch opens
τ = R2·C = 4.7·68 = 319.6 ms
Discharge
vC(t) = 11.75·e−400/319.6 = 3.361 V
i2 = vC/R2 = 3.361/4.7 = 0.7151 mA
Answer
i2 = 0.7151 mA
13.AC impedance & phasors
Answer: P = 0.2534 W
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
XL = 62.83 Ω, XC = 361.7 Ω
Impedance
|Z| = √(40² + (−298.9)²) = 301.5 Ω
Real power
Inductors and capacitors only store and return energy; the resistor absorbs all of the real power.
I = 24/301.5 = 0.07959 A
P = I²·R = 0.07959²·40 = 0.2534 W
Answer
P = 0.2534 W
14.AC impedance & phasors
Answer: B = 15.92 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|.
Resonant frequency
f0 = 1/(2π·√(0.1·0.22·10⁻⁶)) = 1073 Hz
Quality factor
Q compares the reactance at resonance with the resistance: Q = ω₀L/R.
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.
Line current
Only the real part of the power does work, so divide by the power factor.
I = P/(V·cos φ) = 22000/(240·0.75) = 122.2 A
Answer
I = 122.2 A
16.AC power & power factor
Answer: QC = 4.086 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.
Reactive power before and after
The real power P does not change; only the reactive power drawn from the supply does.
Q1 = P·tan φ1 = 5·tan(45.57°) = 5.101 kvar
Q2 = P·tan φ2 = 5·tan(11.48°) = 1.015 kvar
QC = Q1 − Q2 = 4.086 kvar
Answer
QC = 4.086 kvar
17.Three-phase power
Answer: P = 80.87 kW
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.
Apparent power
S = √3·VL·IL = √3·415·150 = 107.8 kVA
Real power
P = S·cos φ = 107.8·0.75 = 80.87 kW
Answer
P = 80.87 kW
18.Three-phase power
Answer: Cph = 636.9 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 = 100·tan(acos 0.75) = 100·0.8819 = 88.19 kvar
Q2 = 100·tan(acos 0.95) = 100·0.3287 = 32.87 kvar
Reactive power from the capacitors
QC = Q1 − Q2 = 55.32 kvar
Capacitance per phase
In a Y bank each capacitor is connected between a line and the star point.
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.
Secondary voltage and current
V2 = 1200/5 = 240 V
I2 = 240/8 = 30 A
Primary current
An ideal transformer has no losses: V₁·I₁ = V₂·I₂.
I1 = I2/5 = 6 A
Answer
I1 = 6 A
Check: the load seen from the primary is a²·RL = 200 Ω, and 1200/200 gives the same current.
20.Transformers
Answer: Sη,max = 408.2 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
x²·3750 = 2500 → x = √(2500/3750) = 0.8165
Load at maximum efficiency
Sη,max = x·S = 0.8165·500 = 408.2 kVA
Answer
Sη,max = 408.2 kVA
21.Op-amp circuits
Answer: Rf = 308 kΩ
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.
Gain of a non-inverting amplifier
V₋ = V₊ = Vin, and the current through R₁ also flows through Rf, so Vout = Vin·(1 + Rf/R₁).
Av = 1 + Rf/R1
Rf = (15 − 1)·22 = 308 kΩ
Answer
Rf = 308 kΩ
22.Op-amp circuits
Answer: Vout = −0.2918 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.
Input currents
V₋ = 0, so each input resistor has its full input voltage across it.
I1 = V1/R1 = 0.3/100 = 0.003 mA
I2 = V2/R2 = 1.3/22 = 0.05909 mA
If = I1 + I2 = 0.06209 mA
Output voltage
Vout = −Rf·If = −4.7·0.06209 = −0.2918 V
Answer
Vout = −0.2918 V
23.Diodes & transistors
Answer: IC = 1.521 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.
Check: VCE = 13.17 V is well above 0.2 V, so the transistor is indeed active.
24.Diodes & transistors
Answer: RB = 36.13 kΩ
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.
Collector current in saturation
IC(sat) = (24 − 0.2)/1000 = 23.8 mA
Minimum base current
IB(min) = IC(sat)/β = 23.8/200 = 119 µA
Base resistor
RB = (5 − 0.7)/IB = 4.3 V/0.119 mA = 36.13 kΩ
Answer
RB = 36.13 kΩ
Any smaller base resistor also saturates the transistor; in practice you pick one a few times smaller.
25.Number systems
Answer: N = −19
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.
Add the place values
The other bits keep their normal positive values.
−128 + 64 + 32 + 8 + 4 + 1 = −19
Answer
N = −19
26.Number systems
Answer: M = 192 KiB
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.
Bits and bytes
256·256·24 = 1572864 bit = 196608 B
Convert to KiB
196608/1024 = 192 KiB
Answer
M = 192 KiB
27.Digital logic: gates, K-maps & flip-flops
Answer: L = 3
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(4)
B′C → m(1, 5)
AC′ → m(4, 6)
AB → m(6, 7)
Group and read off
F = B′C + A
Count the literals
L = 3
Answer
L = 3
28.Digital logic: gates, K-maps & flip-flops
Answer: L = 11
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.
B′C′D′, B′CD, A′C′D′, A′CD, AB′, A′BD′, A′BC
Minimal cover
F = B′C′D′ + B′CD + AB′ + A′BD′
L = 11
Answer
L = 11
Another grouping of the same size exists; it has the same number of terms and literals.
29.Laplace transforms
Answer: f(0.25) = 2.573
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).
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
(s² + 8s + 12)·Y(s) = 4s + 32 + 120/s
Y(s) = (4s² + 32s + 120)/(s(s + 2)(s + 6))
Partial fractions
A = 120/(2·6) = 10
B = 72/((−2)·4) = −9
C = 72/((−6)·(−4)) = 3
Result
y(t) = 10 − 9·e−2t + 3·e−6t
y(0.25) = 5.211
Answer
y(0.25) = 5.211
Check: y(0) = A + B + C = 4.
31.Block diagrams
Answer: p = −42
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).
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).
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 = 44 → ωₙ = 6.633 rad/s
2ζωₙ = 9 → ζ = 9/(2·6.633) = 0.6784
Result
%OS = 100·e−ζπ/√(1−ζ²) = 100·e−2.901 = 5.497 %
Answer
%OS = 5.497 %
34.Step response
Answer: ts = 4 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).
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)| = 16.8 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.
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 + 25ω² − 289 = 0
ω² = (−25 + √(625 + 4·289))/2 = 8.601
ωc = 2.933 rad/s
Answer
ωc = 2.933 rad/s
37.Stability: Routh–Hurwitz & root locus
Answer: ω = 2 rad/s
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.
Routh array
s³ + 5s² + 4s + K = 0
s³: 1, 4
s²: 5, K
s¹: (5·4 − K)/5
s⁰: K
Critical gain
K = 5·4 = 20
Auxiliary equation
At the critical gain the s¹ row is zero; the s² row gives the poles on the imaginary axis.
5s² + 20 = 0 → s = ±j√4
ω = 2 rad/s
Answer
ω = 2 rad/s
38.Stability: Routh–Hurwitz & root locus
Answer: sb = −1.101
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.
Gain along the real axis
K(s) = −(s² + 2s)/(s + 6)
Stationary points
Differentiate with the quotient rule and set the numerator to zero.
(2s + 2)(s + 6) − (s² + 2s) = s² + 12s + 12 = 0
s = −6 ± √24 = −1.101, −10.9
Break-away point
sb = −1.101
Answer
sb = −1.101
Between the two break points the locus is a circle centred on the zero, with radius √24 = 4.899.
39.Steady-state error & PID control
Answer: K = 392
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.
Required error constant
1/(1 + Kp) = 0.02 → Kp = 49
Gain
K/8 = 49 → K = 392
Answer
K = 392
Check the closed-loop stability as well: for this second-order loop any K > 0 is stable.
40.Steady-state error & PID control
Answer: K = 156.2
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 + 10) + 1K = s² + 10s + 1K
Natural frequency
2·0.4·ωₙ = 10 → ωₙ = 12.5 rad/s
Gain
1K = ωₙ² = 156.2 → K = 156.2
Answer
K = 156.2
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