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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 IR1 delivered by the source, which flows through R1.
Three branches are connected between node A and ground, as shown. Use nodal analysis to find the current I1 in branch 1, flowing up into node A in the direction of the arrow.
Find the Thévenin resistance Rth seen from terminals a–b.
V1 = 10 VR1 = 3 ΩR2 = 2 ΩR3 = 12 Ω
Rth = Ω
10.Thévenin & NortonHard
A load RL = 3 Ω is connected across a–b. Use a Thévenin equivalent to find the power PL delivered to the load.
V1 = 9 VIs = 2 AR1 = 4 ΩR2 = 5 ΩR3 = 12 ΩRL = 3 Ω
PL = W
11.RC & RL transientsMedium
The inductor carries no current before the switch closes at t = 0. How long after the switch closes does the current reach 99% of its final value? Find t.
Vs = 24 VR = 33 ΩL = 47 mH
t = ms
12.RC & RL transientsHard
The switch across R2 has been closed for a long time, so the inductor current is steady. At t = 0 the switch opens. Find the inductor current i at t = 5 ms.
Vs = 6 VR1 = 15 ΩR2 = 15 ΩL = 68 mHt = 5 ms
i = A
13.AC impedance & phasorsMedium
A resistor and a capacitor are connected in parallel across a 230 V (rms), 100 Hz supply. Find the magnitude of the impedance |Z|.
V = 230 V (rms)f = 100 HzR = 50 ΩC = 22 µF
|Z| = Ω
14.AC impedance & phasorsHard
A series RLC circuit has R = 20 Ω, L = 200 mH and C = 0.047 µF. Find its quality factor Q at resonance.
R = 20 ΩL = 200 mHC = 0.047 µF
Q =
15.AC power & power factorMedium
A single-phase motor takes 26 kW at a power factor of 0.85 lagging from a 240 V supply. Find the reactive power Q it draws.
P = 26 kWpf = 0.85V = 240 V
Q = kvar
16.AC power & power factorHard
A single-phase load takes 40 kW at a power factor of 0.65 lagging from a 240 V, 60 Hz supply. A capacitor connected in parallel raises the power factor to 0.92. Find the capacitance C needed.
P = 40 kWpf1 = 0.65pf2 = 0.92V = 240 Vf = 60 Hz
C = µF
17.Three-phase powerMedium
A balanced three-phase load draws a line current of 25 A from a supply with a line-to-line voltage of 415 V. The power factor is 0.95 lagging. Find the total real power P drawn by the load in kW.
VL = 415 VIL = 25 Acos φ = 0.95
P = kW
18.Three-phase powerHard
A balanced three-phase load takes 75 kW at a power factor of 0.8 lagging from a 400 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. Find the total reactive power QC the capacitor bank must supply, in kvar.
P = 75 kWpf1 = 0.8pf2 = 0.95VL = 400 Vf = 60 Hz
QC = kvar
19.TransformersMedium
An amplifier with an output resistance of 200 Ω drives a 50 Ω loudspeaker through an ideal transformer. For maximum power transfer the loudspeaker must look like 200 Ω from the amplifier. Find the turns ratio a = N₁/N₂.
Rs = 200 ΩRL = 50 Ω
a =
20.TransformersHard
A single-phase 100 kVA transformer has a core loss of 500 W. At rated load and a power factor of 0.85 lagging its efficiency is 96%. Find the full-load copper loss Pcu,fl in watts.
S = 100 kVAPcore = 500 Wpf = 0.85η = 96%
Pcu,fl = W
21.Op-amp circuitsMedium
The difference amplifier uses an ideal op-amp with ±15 V supplies, with R3 = R1 and R4 = R2. Find the output voltage Vout.
V1 = 0.2 VV2 = 0.5 VR1 = R3 = 2 kΩR2 = R4 = 22 kΩ
Vout = V
22.Op-amp circuitsHard
The summing amplifier uses an ideal op-amp with ±15 V supplies. Find the current If through the feedback resistor, flowing towards the output.
A 9.1 V Zener regulator is fed from 24 V through 220 Ω and supplies a 3300 Ω load. Find the Zener current IZ.
Vin = 24 VVZ = 9.1 VR = 220 ΩRL = 3300 Ω
IZ = mA
24.Diodes & transistorsHard
A 5.6 V Zener regulator has a 100 Ω series resistor. The input can rise to 26 V, and the load may be disconnected. Find the largest power PZ,max the Zener must dissipate.
Vin,max = 26 VVZ = 5.6 VR = 100 Ω
PZ,max = mW
25.Number systemsMedium
Set the bits so they store −60 in 8-bit two's complement. Read as an unsigned number, what is the pattern's value U?
N = −608 bit
U =
26.Number systemsHard
A system must give every one of 1208 items its own binary code of the same length. What is the smallest number of bits b needed?
Use the Karnaugh map to find the minimal product-of-sums (POS) form of F(A, B, C, D) = Σm(0, 1, 2, 6, 11, 12, 14, 15). How many sum terms (factors) N does it have?
F(A, B, C, D) = Σm(0, 1, 2, 6, 11, 12, 14, 15)
N =
28.Digital logic: gates, K-maps & flip-flopsHard
A 3-bit binary up counter starts at 2 (decimal, Q = 010). Which count Q (in decimal) does it show after 9 clock pulses?
Q0 = 29n = 3
Q =
29.Laplace transformsMedium
Find f(t) for F(s) = (s + 29)/(s² + 6s + 9) and evaluate f(0.1).
F(s) = (s + 29)/(s² + 6s + 9)t = 0.1 s
f(0.1) =
30.Laplace transformsHard
A system is described by the differential equation y″ + 11y′ + 30y = 10u, with input u(t) and output y(t). Find its transfer function G(s) = Y(s)/U(s) (zero initial conditions) and evaluate the impulse response g(t) at t = 0.3 s. Find g(0.3).
y″ + 11y′ + 30y = 10ut = 0.3 s
g(0.3) =
31.Block diagramsMedium
The plant G(s) = 6/(s + 3) has an inner (minor) negative feedback loop with gain H₁ = 1. A controller gain K = 20 and an outer unity negative feedback loop close the system. Find the closed-loop DC gain T(0).
G(s) = 6/(s + 3)H₁ = 1K = 20
T(0) =
32.Block diagramsHard
A proportional controller K drives the plant G(s) = 5/(s + 8) in a unity negative feedback loop. A disturbance step of size 1 enters at the plant input while R = 0. Find the smallest gain K that keeps the steady-state output at or below 0.0125.
G(s) = 5/(s + 8)D = 1css ≤ 0.0125
K =
33.Step responseMedium
A system has the transfer function G(s) = 92/(s² + 4s + 92) and receives a unit step input. Find the peak time tp of the step response.
G(s) = 92/(s² + 4s + 92)
tp = s
34.Step responseHard
The step response of a second-order system without zeros shows 5 % overshoot, and the first peak occurs at t = 1 s. Find the natural frequency ωn.
%OS = 5 %tp = 1 s
ωn = rad/s
35.Bode plots & marginsMedium
The RL high-pass filter shown has R = 47 Ω, L = 2.2 mH. A sinusoidal input of 850 Hz is applied. Find the phase shift φ of vout relative to vin, in degrees.
R = 47 ΩL = 2.2 mHf = 850 Hz
φ = °
36.Bode plots & marginsHard
A unity-feedback loop has the open-loop transfer function L(s) = 210/(s(s + 3)(s + 8)). Find the gain margin GM in dB.
L(s) = 210/(s(s + 3)(s + 8))
GM = dB
37.Stability: Routh–Hurwitz & root locusMedium
The loop in the diagram has the open-loop transfer function L(s) = K/(s(s + 6)(s + 8)). 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 + 6)(s + 8))
ω = rad/s
38.Stability: Routh–Hurwitz & root locusHard
A unity-feedback loop has L(s) = K(s + 2)/(s(s + 4)(s + 5)(s + 8)). Find the point σa where the asymptotes of the root locus cross the real axis.
L(s) = K(s + 2)/(s(s + 4)(s + 5)(s + 8))
σa =
39.Steady-state error & PID controlMedium
A unity-feedback loop with G(s) = K/(s(s + 4)) must follow the ramp r(t) = 10t with a steady-state error of 0.5. Find the gain K.
G(s) = K/(s(s + 4))r(t) = 10tess = 0.5
K =
40.Steady-state error & PID controlHard
A proportional controller K = 50 drives the plant G(s) = 5/(s(s + 8)) in a unity-feedback loop. Find the 2 % settling time ts of the step response, using ts ≈ 4/(ζωₙ).
G(s) = 5/(s(s + 8))K = 50
ts = s
3Solutions
1.Series & parallel resistors
Answer: IR1 = 0.7907 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 = 15 + 8 = 23 Ω
R2 ∥ 23 = 10·23/(10+23) = 6.97 Ω
Req = R1 + 6.97 = 12 + 6.97 = 18.97 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 = 15/18.97 = 0.7907 A
Answer
IR1 = 0.7907 A
2.Series & parallel resistors
Answer: IR2 = 3.13 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 = 15 + 10 = 25 Ω
R4 ∥ 25 = 13.64 Ω
R3 + 13.64 = 16.64 Ω
R2 ∥ 16.64 = 3.845 Ω
Req = R1 + 3.845 = 5 + 3.845 = 8.845 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 = 36/8.845 = 4.07 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 = 36 − 4.07·5 = 15.65 V
IR2 = VA/R2 = 15.65/5 = 3.13 A
Answer
IR2 = 3.13 A
3.Nodal analysis
Answer: I1 = −1.914 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.
KCL at node A
Take the bottom wire as ground. Each branch carries (VA − Vk)/Rk away from A, where Vk is the voltage of its source (zero for a plain resistor). The currents leaving A add up to zero.
(VA − (−15))/15 + (VA − 30)/10 + (VA − 18)/15 = 0
Solve for VA
VA = ((−15)/15 + 30/10 + 18/15) / (1/15 + 1/10 + 1/15) = 3.2/0.2333 = 13.71 V
Branch current
The arrow points up through the branch, into node A.
A negative result means the real current flows against the arrow.
4.Nodal analysis
Answer: VA = 10.5 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 = 10 V, V2 = 9 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/25 + (VA − 10)/12 + (VA − VB)/5 = 0
0.3233·VA − 0.2·VB = 0.8333
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/3 + (VB − VA)/5 + (VB − 9)/3 = 6
−0.2·VA + 0.8667·VB = 9
Solve
Δ = (0.3233)(0.8667) − (−0.2)(−0.2) = 0.2402
VA = Δ1/Δ = 2.522/0.2402 = 10.5 V
VB = Δ2/Δ = 3.077/0.2402 = 12.81 V
Answer
VA = 10.5 V
5.Mesh analysis
Answer: VR3 = 11.78 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.
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
15·I1 + 2(I1 − I2) = 9
17·I1 − 2·I2 = 9
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 + 2(I2 − I1) = (−30)
−2·I1 + 5·I2 = −30
Solve
Δ = (17)(5) − (−2)(−2) = 81
I1 = Δ1/Δ = −15/81 = −0.1852 A
I2 = Δ2/Δ = −492/81 = −6.074 A
Answer
IR3 = I1 − I2 = 5.889 A
VR3 = IR3·R3 = 5.889·2 = 11.78 V
A negative mesh current flows anticlockwise.
6.Mesh analysis
Answer: I3 = −0.6557 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 + 25(I1 − I2) = 6
33·I1 − 25·I2 = 6
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
2·I2 + 25(I2 − I1) + 10(I2 − I3) = 0
−25·I1 + 37·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
10·I3 + 10(I3 − I2) = (−12)
−10·I2 + 20·I3 = −12
Solve
Δ = det of the coefficient matrix = 8620
I1 = Δ1/Δ = 840/8620 = 0.09745 A
I2 = Δ2/Δ = −960/8620 = −0.1114 A
I3 = Δ3/Δ = −5652/8620 = −0.6557 A
Answer
I3 = −0.6557 A
A negative mesh current flows anticlockwise.
7.Superposition
Answer: Is = 1 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
Iₛ becomes an open circuit, so R₃ and R₄ form one series branch from A to ground, in parallel with R₂.
R3+R4 = 8+4 = 12 Ω
R2 ∥ (R3+R4) = 6·12/(6+12) = 4 Ω
VA = 12·4/(12+4) = 3 V
VB = VA·R4/(R3+R4) = 3·4/12 = 1 V
IR3′ = (VA − VB)/R3 = (3 − 1)/8 = 0.25 A
Case 2 · Is acting alone
V₁ becomes a short, so R₁ ∥ R₂ hangs from A to ground. Iₛ splits at B between R₄ and the path R₃ + R₁∥R₂; the part through R₃ flows from B to A, against the arrow.
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: Rth = 13.2 Ω
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 = 3·2/(3+2) = 1.2 Ω
Rth = (R1 ∥ R2) + R3 = 1.2 + 12 = 13.2 Ω
10.Thévenin & Norton
Answer: PL = 5.559 W
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 = 4·5/(4+5) = 2.222 Ω
Rth = (R1 ∥ R2) + R3 = 2.222 + 12 = 14.22 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) = 5 + (−2)·2.222 = 0.5556 V
Vth = VB = VA + Is·R3 = 0.5556 + (−2)·12 = −23.44 V
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) = −23.44/(14.22 + 3) = −1.361 A
PL = IL²·RL = −1.361²·3 = 5.559 W
11.RC & RL transients
Answer: t = 6.559 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.
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 = 47 mH / 33 Ω = 1.424 ms
i(∞) = Vs/R = 24/33 = 0.7273 A
Solve for the time
0.99 = 1 − e−t/τ → t = −τ·ln(1 − 0.99)
t = −1.424·ln(0.01) = 6.559 ms
Answer
t = 6.559 ms
12.RC & RL transients
Answer: i = 0.222 A
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
Before t = 0 the closed switch bypasses R₂; afterwards R₁ and R₂ are both in the loop.
i(0) = 6/15 = 0.4 A
i(∞) = 6/(15 + 15) = 0.2 A
τ = L/R = 68/30 = 2.267 ms
i(t) = 0.2 + (0.4 − 0.2)·e−t/τ
Current at the given time
i(5) = 0.2 + (0.2)·e−5/2.267 = 0.222 A
Answer
i = 0.222 A
13.AC impedance & phasors
Answer: |Z| = 41.13 Ω
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|.
Reactance
XC = 1/(ωC) = 1/(2π·100·22·10⁻⁶) = 72.34 Ω
Branch currents
Both branches are connected straight across the supply, so each sees the full voltage V.
IR = V/R = 230/50 = 4.6 A
IX = V/XC = 230/72.34 = 3.179 A
Total current
The resistor current is in phase with V and the reactive current is 90° out of phase, so they add like the sides of a right triangle.
I = √(IR² + IX²) = √(4.6² + 3.179²) = 5.592 A
Impedance
|Z| = V/I = 230/5.592 = 41.13 Ω
Answer
|Z| = 41.13 Ω
14.AC impedance & phasors
Answer: Q = 103.1
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·√(0.2·0.047·10⁻⁶)) = 1642 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.
Angle
φ = arccos(0.85) = 31.79°, tan φ = 0.6197
Reactive power
Q = P·tan φ = 26·0.6197 = 16.11 kvar
Answer
Q = 16.11 kvar
16.AC power & power factor
Answer: C = 1369 µF
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 = 40·tan(49.46°) = 46.77 kvar
Q2 = P·tan φ2 = 40·tan(23.07°) = 17.04 kvar
QC = Q1 − Q2 = 29.73 kvar
Capacitance
A capacitor across the supply delivers Q = V²·ωC.
C = QC/(2πf·V²) = 29725/(2π·60·240²) = 1369 µF
Answer
C = 1369 µF
17.Three-phase power
Answer: P = 17.07 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 = √3·415·25 = 17.97 kVA
Real power
P = S·cos φ = 17.97·0.95 = 17.07 kW
Answer
P = 17.07 kW
18.Three-phase power
Answer: QC = 31.6 kvar
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 = 75·tan(acos 0.8) = 75·0.75 = 56.25 kvar
Q2 = 75·tan(acos 0.95) = 75·0.3287 = 24.65 kvar
Reactive power from the capacitors
QC = Q1 − Q2 = 31.6 kvar
Answer
QC = 31.6 kvar
19.Transformers
Answer: a = 2
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.
Match the referred load
a²·50 = 200
a = √(200/50) = √4 = 2
Answer
a = 2
20.Transformers
Answer: Pcu,fl = 3042 W
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.
Output and input power
Pout = 100·0.85 = 85 kW
Pin = 85000/0.96 = 88542 W
Total and copper losses
Ploss = 88542 − 85000 = 3542 W
Pcu,fl = 3542 − 500 = 3042 W
Answer
Pcu,fl = 3042 W
21.Op-amp circuits
Answer: Vout = 3.3 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.
Voltage at the inputs
R₃ and R₄ carry the same current, so they form a voltage divider; feedback makes V₋ = 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 = 0.6/100 = 0.006 mA
I2 = V2/R2 = 1.6/4.7 = 0.3404 mA
If = I1 + I2 = 0.3464 mA
Answer
If = 0.3464 mA
23.Diodes & transistors
Answer: IZ = 64.97 mA
Zener regulator: a reverse-biased Zener diode holds its voltage VZ while its current stays above a minimum IZ,min. The series resistor R takes the difference between input and output: IR = (Vin − VZ)/R. That current splits between the load, IL = VZ/RL, and the Zener: IZ = IR − IL. Design for the worst cases: the lowest input with the largest load must still leave IZ,min, and the highest input with no load gives the largest Zener power PZ = VZ·IZ.
Resistor current
IR = 14.9/220 = 67.73 mA
Load current
IL = 9.1/3300 = 2.758 mA
Zener current
IZ = 67.73 − 2.758 = 64.97 mA
Answer
IZ = 64.97 mA
24.Diodes & transistors
Answer: PZ,max = 1142 mW
Zener regulator: a reverse-biased Zener diode holds its voltage VZ while its current stays above a minimum IZ,min. The series resistor R takes the difference between input and output: IR = (Vin − VZ)/R. That current splits between the load, IL = VZ/RL, and the Zener: IZ = IR − IL. Design for the worst cases: the lowest input with the largest load must still leave IZ,min, and the highest input with no load gives the largest Zener power PZ = VZ·IZ.
Worst-case Zener current
IZ = 20.4/100 = 204 mA
Zener power
PZ = 5.6·204 = 1142 mW
Answer
PZ,max = 1142 mW
25.Number systems
Answer: U = 196
Setting bits: each bit is worth a power of two (128, 64, …, 1). One hex digit is exactly four bits, and in 8-bit two's complement the leftmost bit is worth −128. Bitwise operations work on each bit position separately.
Invert and add one
60 = 0011 1100
inverted: 1100 0011
+1 → 1100 0100
Read it as unsigned
1100 0100₂ = 256 − 60 = 196
Answer
U = 196
26.Number systems
Answer: b = 11 bit
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.
Powers of two
210 = 1024 < 1208
211 = 2048 ≥ 1208
Answer
b = 11
27.Digital logic: gates, K-maps & flip-flops
Answer: N = 4
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.
Group the 0s
Every group is a rectangle of 2ᵏ cells; edge cells are neighbours of the cells on the opposite edge.
(A + C′ + D′)
(A′ + C + D′)
(A′ + B + D)
(A + B′ + C)
Minimal POS form
F = (A + C′ + D′)(A′ + C + D′)(A′ + B + D)(A + B′ + C)
N = 4
Answer
N = 4
28.Digital logic: gates, K-maps & flip-flops
Answer: Q = 3
Flip-flops and counters: a flip-flop changes only at the active clock edge. D copies its input (Q⁺ = D); T toggles when T = 1; JK holds for 00, resets for 01, sets for 10 and toggles for 11. An n-bit binary counter has 2ⁿ states and counts modulo 2ⁿ; a mod-N counter goes 0, 1, …, N − 1 and back to 0, and needs the smallest n with 2ⁿ ≥ N flip-flops. Each stage of a ripple counter halves the frequency, so the last output of a mod-N counter runs at fclk/N. A Johnson counter of n flip-flops has 2n states, a ring counter n.
Full cycles
Every 8 pulses bring the counter back to the same state.
9 = 1·8 + 1
Count after the remaining pulses
Q = (2 + 1) mod 8 = 3
Q = 011₂
Answer
Q = 3
29.Laplace transforms
Answer: f(0.1) = 2.667
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
s + 29 = 1(s + 3) + 26
F(s) = 1/(s + 3) + 26/(s + 3)²
Inverse transform
f(t) = e−3t + 26·t·e−3t
f(0.1) = (1 + 26·0.1)·e−3·0.1 = 2.667
Answer
f(0.1) = 2.667
30.Laplace transforms
Answer: g(0.3) = 0.5783
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).
Transfer function
G(s) = Y(s)/U(s) = 10/(s² + 11s + 30)
Partial fractions
s² + 11s + 30 = (s + 5)(s + 6)
A = 10, B = −10
Impulse response
g(t) = 10·e−5t − 10·e−6t
g(0.3) = 0.5783
Answer
g(0.3) = 0.5783
31.Block diagrams
Answer: T(0) = 0.9302
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).
Disturbance response
css = D·G(0)/(1 + K·G(0)) = 1·5/(8 + 5K)
Solve for K
8 + 5K = 1·5/0.0125 = 400
K = (400 − 8)/5 = 78.4
Answer
K = 78.4
33.Step response
Answer: tp = 0.3349 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).
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).
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.
Corner frequency
ωc = R/L = 47/0.0022 = 21364 rad/s
fc = 3400 Hz → f/fc = 850/3400 = 0.25
Phase
φ = 90° − atan(0.25) = 75.96°
Answer
φ = 75.96°
36.Bode plots & margins
Answer: GM = 1.988 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.
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 + 14s² + 48s + K = 0
s³: 1, 48
s²: 14, K
s¹: (14·48 − K)/14
s⁰: K
Critical gain
K = 14·48 = 672
Auxiliary equation
At the critical gain the s¹ row is zero; the s² row gives the poles on the imaginary axis.
14s² + 672 = 0 → s = ±j√48
ω = 6.928 rad/s
Answer
ω = 6.928 rad/s
38.Stability: Routh–Hurwitz & root locus
Answer: σa = −5
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.
Poles and zeros
poles: 0, −4, −5, −8
zeros: −2
n − m = 4 − 1 = 3
Centroid
σa = (−17 − (−2))/3 = −5
Answer
σa = −5
The 3 asymptotes leave the centroid at angles of 60°, 180°, 300°.
39.Steady-state error & PID control
Answer: K = 80
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 velocity constant
Kv = A/ess = 10/0.5 = 20
Gain
K = 4·Kv = 80
Answer
K = 80
A large gain makes this loop very lightly damped: ζ = 0.2236. That conflict is why compensators are used.
40.Steady-state error & PID control
Answer: ts = 1 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 + 8) + 50·5 = s² + 8s + 250
ωₙ and ζ
ωₙ = √250 = 15.81 rad/s
ζ = 8/(2·15.81) = 0.253
Settling time
ζωₙ = 8/2 = 4
ts ≈ 4/4 = 1 s
Answer
ts = 1 s
The settling time does not depend on K here: raising K only makes the response oscillate faster.
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