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​ = 2 ΩR3​ = 8 Ω+−V1​18 VR2​6 ΩAR4​15 ΩB

Find the equivalent resistance Req seen by the source V1.

V1 = 18 VR1 = 2 ΩR2 = 6 ΩR3 = 8 ΩR4 = 15 Ω
Req = Ω
2.Series & parallel resistorsHard
R1​ = 20 ΩR3​ = 3 ΩR5​ = 12 Ω+−V1​36 VR2​12 ΩAR4​15 ΩBR6​20 Ω

Find the equivalent resistance Req seen by the source V1.

V1 = 36 VR1 = 20 ΩR2 = 12 ΩR3 = 3 ΩR4 = 15 ΩR5 = 12 ΩR6 = 20 Ω
Req = Ω
3.Nodal analysisMedium
R1​ = 20 ΩR3​ = 3 Ω+−V1​9 VR2​2 ΩAR4​6 ΩBIs​2 A

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

V1 = 9 VIs = 2 AR1 = 20 ΩR2 = 2 ΩR3 = 3 ΩR4 = 6 Ω
VA = V
4.Nodal analysisHard
R1​ = 25 ΩR3​ = 20 Ω+−V1​10 VR2​3 ΩAR4​20 ΩBIs​?

The current source is adjusted until the node voltage at A is VA = 11.5 V. Use nodal analysis to find the source current Is (direction as shown).

V1 = 10 VR1 = 25 ΩR2 = 3 ΩR3 = 20 ΩR4 = 20 ΩVA = 11.5 V
Is = A
5.Mesh analysisMedium
R1​ = 3 ΩR2​ = 10 ΩIR2​+−V1​30 VR3​5 ΩA+−V2​6 VI1​I2​

Use mesh analysis to find the current IR2 through R2 in the direction of the arrow.

V1 = 30 VV2 = 6 VR1 = 3 ΩR2 = 10 ΩR3 = 5 Ω
IR2 = A
6.Mesh analysisHard
R1​ = 2 ΩR2​ = 6 ΩR3​ = 6 Ω+−V1​10 VR4​15 ΩAR5​4 ΩB+−V2​10 VI1​I2​I3​

Use mesh analysis to find the mesh current I1 (clockwise).

V1 = 10 VV2 = 10 VR1 = 2 ΩR2 = 6 ΩR3 = 6 ΩR4 = 15 ΩR5 = 4 Ω
I1 = A
7.SuperpositionMedium
R1​ = 8 ΩR3​ = 3 Ω+−V1​10 VR2​20 ΩIR2​AR4​3 ΩBIs​3 A

Use superposition to find the power PR2 absorbed by R2.

V1 = 10 VIs = 3 AR1 = 8 ΩR2 = 20 ΩR3 = 3 ΩR4 = 3 Ω
PR2 = W
8.SuperpositionHard
R1​ = 6 ΩR2​ = 2 Ω−+VR2​R4​ = 20 Ω+−V1​36 VR3​20 ΩAIs​2 AB+−V2​36 V

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

V1 = 36 VIs = 2 AV2 = 36 VR1 = 6 ΩR2 = 2 ΩR3 = 20 ΩR4 = 20 Ω
VR2 = V
9.Thévenin & NortonMedium
R1​ = 4 ΩR3​ = 12 Ω+−V1​24 VR2​20 ΩAab

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

V1 = 24 VR1 = 4 ΩR2 = 20 ΩR3 = 12 Ω
IN = A
10.Thévenin & NortonHard
R1​ = 30 ΩR3​ = 12 Ω+−V1​15 VR2​5 ΩAIs​1 ABab

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

V1 = 15 VIs = 1 AR1 = 30 ΩR2 = 5 ΩR3 = 12 Ω
IN = A
11.RC & RL transientsMedium
R = 100 Ωt = 0L220 mHi(t)

The inductor carries a steady current of 1 A. At t = 0 the switch closes the loop through R and the source is removed, so the inductor current decays through R. How long does it take for the current to fall to 0.2 A? Find t.

i(0) = 1 AR = 100 ΩL = 220 mH
t = ms
12.RC & RL transientsHard
+−Vs​15 Vopens at t = 0R1​ = 6.8 kΩR2​ = 1 kΩi2​C10 µF+−vC​

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 = 20 ms.

Vs = 15 VR1 = 6.8 kΩR2 = 1 kΩC = 10 µFt = 20 ms
i2 = mA
13.AC impedance & phasorsMedium
50 V50 HzR = 10 ΩL = 20 mHC = 22 µFI

A series RLC circuit is connected to a 50 V (rms), 50 Hz supply. Find the rms current I.

V = 50 V (rms)f = 50 HzR = 10 ΩL = 20 mHC = 22 µF
I = A
14.AC impedance & phasorsHard
VfR = 20 ΩL = 200 mHC = 0.22 µF

A series RLC circuit has R = 20 Ω, L = 200 mH and C = 0.22 µF. Find its quality factor Q at resonance.

R = 20 ΩL = 200 mHC = 0.22 µF
Q =
15.AC power & power factorMedium
240 V130 kW, 0.75229 kW, 0.8I = ?

Two loads are connected in parallel to a 240 V single-phase supply: a 30 kW load at a power factor of 0.75 lagging and a 29 kW load at a power factor of 0.8 lagging. Find the total current I drawn from the supply.

V = 240 VP1 = 30 kW, pf1 = 0.75 laggingP2 = 29 kW, pf2 = 0.8 lagging
I = A
16.AC power & power factorHard
P = 50 kWQ1​S1​φ1​QC​

A single-phase load takes 50 kW at a power factor of 0.7 lagging from a 230 V, 50 Hz supply. A capacitor connected in parallel raises the power factor to 0.92. Find the new line current Inew.

P = 50 kWpf1 = 0.7pf2 = 0.92V = 230 Vf = 50 Hz
Inew = A
17.Three-phase powerMedium
ABCVL​ = 415 VIL​ = ?M75 kW, η = 93%cos φ = 0.85

A three-phase induction motor delivers 75 kW of mechanical output power at full load. At this load its efficiency is 93% and its power factor is 0.85 lagging. The supply has a line-to-line voltage of 415 V. Find the line current IL.

Pout = 75 kWη = 93%cos φ = 0.85VL = 415 V
IL = A
18.Three-phase powerHard
P = 60 kWφ1​S1​Q2​QC​ = ?

A balanced three-phase load takes 60 kW at a power factor of 0.8 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 0.98 lagging. The real power stays the same. Find the total reactive power QC the capacitor bank must supply, in kvar.

P = 60 kWpf1 = 0.8pf2 = 0.98VL = 480 Vf = 60 Hz
QC = kvar
19.TransformersMedium
RL​ = 60 Ω41960 VV2​I1​ = ?I2​

An ideal transformer with a turns ratio N₁:N₂ = 4:1 has 960 V applied to its primary winding. A 60 Ω resistor is connected across the secondary winding. Find the primary current I1.

N1:N2 = 4:1V1 = 960 VRL = 60 Ω
I1 = A
20.TransformersHard
150 kVA

A single-phase 150 kVA transformer has a core loss of 750 W and a copper loss of 1125 W at rated load. At what load Sη,max, in kVA, is its efficiency highest?

S = 150 kVAPcore = 750 WPcu,fl = 1125 W
Sη,max = kVA
21.Op-amp circuitsMedium
−+Vout​Rf​ = 4.7 kΩR1​ = 4.7 kΩVin​ = −2 VRa​ = 1 kΩRb​ = 22 kΩ

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

Vin = −2 VRa = 1 kΩRb = 22 kΩR1 = 4.7 kΩRf = 4.7 kΩ
Vout = V
22.Op-amp circuitsHard
Vin​V1​Vout​stage 1: invertingR1​ = 4.7 kΩRf1​ = 47 kΩstage 2: non-invertingR2​ = 10 kΩRf2​ = 4.7 kΩ

Two ideal op-amp stages are connected in cascade: an inverting amplifier (R1, Rf1) followed by a non-inverting amplifier (R2 to ground, Rf2 in the feedback). Both run from ±15 V supplies. Find the overall voltage gain Av = Vout/Vin.

R1 = 4.7 kΩRf1 = 47 kΩR2 = 10 kΩRf2 = 4.7 kΩ
Av =
23.Diodes & transistorsMedium
RC​ = 3.3 kΩβ = 100RE​ = 1.2 kΩVCC​ = 15 VR1​ = 56 kΩR2​ = 10 kΩ

An NPN transistor with β = 100 has voltage-divider bias from VCC = 15 V: R₁ = 56 kΩ from VCC to the base and R₂ = 10 kΩ from the base to ground. The collector resistor is RC = 3.3 kΩ and the emitter resistor is RE = 1.2 kΩ. Take VBE = 0.7 V and use the Thévenin equivalent of the divider (do not neglect the base current). Find the collector–emitter voltage VCE.

VCC = 15 VR1 = 56 kΩR2 = 10 kΩRC = 3.3 kΩRE = 1.2 kΩβ = 100
VCE = V
24.Diodes & transistorsHard
+−≥ 18 VR = ?5.1 V≤ 50 mA

A 5.1 V Zener regulator must supply up to 50 mA to a load. The input can drop to 18 V, and the Zener needs at least 2 mA to regulate. Find the largest series resistance Rmax that keeps it regulating.

Vin,min = 18 VVZ = 5.1 VIL,max = 50 mAIZ,min = 2 mA
Rmax = Ω
25.Number systemsMedium
place values in two's complement1−12806403201608041211

The 8-bit pattern 1000 0011 stores a signed integer in two's complement. What is its value N in decimal?

1000 00118 bit
N =
26.Number systemsHard
click the bits to set them012806403201608040201

Set the bits to the 8-bit result of 0111 1101 OR 0010 1000. What is the result's value R in decimal?

0111 1101OR0010 1000
R =
27.Digital logic: gates, K-maps & flip-flopsMedium
ABCD000111100001111000010302040517061121131150141819111110

Use the Karnaugh map to find the minimal sum-of-products (SOP) form of F(A, B, C, D) = Σm(7, 8, 9, 10, 11, 12, 13, 15). How many literals L does it contain in total (a primed variable counts as one literal)?

F(A, B, C, D) = Σm(7, 8, 9, 10, 11, 12, 13, 15)
L =
28.Digital logic: gates, K-maps & flip-flopsHard
ABCD0001111000011110001103X214150716X12013X150140809111010

Find the minimal SOP form of F(A, B, C, D) = Σm(1, 4, 5, 6, 11) + d(2, 12, 15), where d marks the don't-care conditions. How many literals L does it contain?

F(A, B, C, D) = Σm(1, 4, 5, 6, 11) + d(2, 12, 15)
L =
29.Laplace transformsMedium
ReIm−2−4−6−8−10−12−14−16−182

Find f(t) for F(s) = (2s + 32)/(s² + 2s + 5) by completing the square, and evaluate f(0.3).

F(s) = (2s + 32)/(s² + 2s + 5)t = 0.3 s
f(0.3) =
30.Laplace transformsHard
t (s)y(t)t = 0.75y(0.75) = ?

Solve y″ + 4y′ + 3y = 0 with y(0) = −2 and y′(0) = −13 using the Laplace transform, and find y(0.75).

y″ + 4y′ + 3y = 0y(0) = −2y′(0) = −13t = 0.75 s
y(0.75) =
31.Block diagramsMedium
R(s)+40s(s + 7)G(s)C(s)−

A unity negative feedback loop has G(s) = 40/(s(s + 7)). The reference is a ramp r(t) = 10·t. Find the steady-state error ess.

G(s) = 40/(s(s + 7))r(t) = 10·t
ess =
32.Block diagramsHard
R(s)+23controller+D(s)+4s + 1plantC(s)−

A proportional controller K = 23 drives the plant G(s) = 4/(s + 1) in a unity negative feedback loop. A disturbance D enters at the plant input (it is added to the controller output). A reference step of size 10 and a disturbance step of size 10 are applied together. Find the steady-state output css.

K = 23G(s) = 4/(s + 1)D = 10R = 10
css =
33.Step responseMedium
t (s)y(t)1

A system has the transfer function G(s) = 90/(s² + 14s + 90) and receives a unit step input. The poles are s = σ ± jωd. Find the real part σ.

G(s) = 90/(s² + 14s + 90)
σ =
34.Step responseHard
k = 2000 N/mc = 25 N·s/mm = 0.5 kgF = 25 Nx(t)

A mass m = 0.5 kg hangs on a spring k = 2000 N/m with a viscous damper c = 25 N·s/m (m·x″ + c·x′ + k·x = F). At rest in equilibrium, a constant force F = 25 N is suddenly applied. Find the percent overshoot %OS of the displacement.

m = 0.5 kgk = 2000 N/mc = 25 N·s/mF = 25 N
%OS = %
35.Bode plots & marginsMedium
|H| (dB)1101001000−60−40−20020ω (rad/s)ω = 15

Find the exact magnitude |G(jω)| of G(s) = 1428/((s + 12)(s + 17)) at ω = 15 rad/s, in dB.

G(s) = 1428/((s + 12)(s + 17))ω = 15 rad/s
|G(jω)| = dB
36.Bode plots & marginsHard
|H| (dB)0.10.1111010100100−60−40−2002040ω (rad/s)φ (°)ω (rad/s)−180−135−90−450ωc​ = ?

A unity-feedback loop has the open-loop transfer function L(s) = 15.2/(s(s + 4)). Find the gain crossover frequency ωc, where |L(jω)| = 1.

L(s) = 15.2/(s(s + 4))
ωc = rad/s
37.Stability: Routh–Hurwitz & root locusMedium
R(s)+11521s(s + 4)(s + 8)C(s)−

The loop in the diagram has negative feedback and L(s) = 1152/(s(s + 4)(s + 8)). How many closed-loop poles N lie in the right half-plane?

L(s) = 1152/(s(s + 4)(s + 8))
N =
38.Stability: Routh–Hurwitz & root locusHard
ReIm−2−4−6−8−10−12j2sb​

The root locus of L(s) = K/((s + 6)(s + 10)) is shown. Find the gain K at the break-away point sb, where the two closed-loop poles meet on the real axis.

L(s) = K/((s + 6)(s + 10))
K =
39.Steady-state error & PID controlMedium
r(t) = 5t+10(s + 4)s(s + 2)(s + 4)C(s)−

A ramp r(t) = 5t is applied to a unity-feedback loop with G(s) = 10(s + 4)/(s(s + 2)(s + 4)). Find the steady-state error ess.

G(s) = 10(s + 4)/(s(s + 2)(s + 4))r(t) = 5t
ess =
40.Steady-state error & PID controlHard
r(t) = 5t+5 + 1/s2(s + 4)(s + 10)C(s)−

A PI controller C(s) = 5 + 1/s drives the plant G(s) = 2/((s + 4)(s + 10)) in a unity-feedback loop. Find the steady-state error ess for the ramp input r(t) = 5t.

C(s) = 5 + 1/sG(s) = 2/((s + 4)(s + 10))r(t) = 5t
ess =

3Solutions

1.Series & parallel resistors

Answer: Req = 6.759 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​ = 2 ΩR3​ = 8 Ω+−V1​18 VR2​6 ΩAR4​15 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 = 8 + 15 = 23 Ω
R2 ∥ 23 = 6·23/(6+23) = 4.759 Ω
Req = R1 + 4.759 = 2 + 4.759 = 6.759 Ω

Answer

Req = 6.759 Ω
2.Series & parallel resistors

Answer: Req = 26.29 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​ = 20 ΩR3​ = 3 ΩR5​ = 12 Ω+−V1​36 VR2​12 ΩAR4​15 ΩBR6​20 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 = 12 + 20 = 32 Ω
R4 ∥ 32 = 10.21 Ω
R3 + 10.21 = 13.21 Ω
R2 ∥ 13.21 = 6.289 Ω
Req = R1 + 6.289 = 20 + 6.289 = 26.29 Ω

Answer

Req = 26.29 Ω
3.Nodal analysis

Answer: VA = −1.336 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​ = 20 ΩR3​ = 3 Ω+−V1​9 VR2​2 ΩAR4​6 ΩBIs​2 A

Set up the nodes

Ground is the bottom wire. Known node voltages come straight from the sources (V1 = 9 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/2 + (VA − 9)/20 + (VA − VB)/3 = 0
0.8833·VA − 0.3333·VB = 0.45

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/6 + (VB − VA)/3 = (−2)
−0.3333·VA + 0.5·VB = −2

Solve

Δ = (0.8833)(0.5) − (−0.3333)(−0.3333) = 0.3306
VA = Δ1/Δ = −0.4417/0.3306 = −1.336 V
VB = Δ2/Δ = −1.617/0.3306 = −4.891 V

Answer

VA = −1.336 V
4.Nodal analysis

Answer: Is = 8.362 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

VA is known, so this equation gives VB.

(VA − V1)/R1 + VA/R2 + (VA − VB)/R3 = 0
(11.5 − 10)/25 + 11.5/3 = (VB − 11.5)/20
3.893 = (VB − 11.5)/20 → VB = 89.37 V

KCL at node B

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

Is = (VB − VA)/R3 + VB/R4 = (89.37 − 11.5)/20 + 89.37/20 = 8.362 A

Answer

Is = 8.362 A
5.Mesh analysis

Answer: IR2 = 1.074 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.

R1​ = 3 ΩR2​ = 10 Ω+−V1​30 VR3​5 ΩA+−V2​6 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
3·I1 + 5(I1 − I2) = 30
8·I1 − 5·I2 = 30

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
10·I2 + 5(I2 − I1) = (−6)
−5·I1 + 15·I2 = −6

Solve

Δ = (8)(15) − (−5)(−5) = 95
I1 = Δ1/Δ = 420/95 = 4.421 A
I2 = Δ2/Δ = 102/95 = 1.074 A

Answer

IR2 = I2 = 1.074 A

A negative mesh current flows anticlockwise.

6.Mesh analysis

Answer: I1 = 1.007 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.

R1​ = 2 ΩR2​ = 6 ΩR3​ = 6 Ω+−V1​10 VR4​15 ΩAR5​4 ΩB+−V2​10 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
2·I1 + 15(I1 − I2) = 10
17·I1 − 15·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 + 15(I2 − I1) + 4(I2 − I3) = 0
−15·I1 + 25·I2 − 4·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
6·I3 + 4(I3 − I2) = (−10)
−4·I2 + 10·I3 = −10

Solve

Δ = det of the coefficient matrix = 1728
I1 = Δ1/Δ = 1740/1728 = 1.007 A
I2 = Δ2/Δ = 820/1728 = 0.4745 A
I3 = Δ3/Δ = −1400/1728 = −0.8102 A

Answer

I1 = 1.007 A

A negative mesh current flows anticlockwise.

7.Superposition

Answer: PR2 = 3.239 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​ = 8 ΩR3​ = 3 Ω+−V1​10 VR2​20 ΩAR4​3 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 = 3+3 = 6 Ω
R2 ∥ (R3+R4) = 20·6/(20+6) = 4.615 Ω
VA = 10·4.615/(8+4.615) = 3.659 V
VB = VA·R4/(R3+R4) = 3.659·3/6 = 1.829 V
IR2′ = (VA − 0)/R2 = (3.659 − 0)/20 = 0.1829 A
R1​ = 8 ΩR3​ = 3 ΩSHORTR2​20 ΩAR4​3 ΩBIs​3 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 = 8·20/(8+20) = 5.714 Ω
Req = R4 ∥ (R3+R1∥R2) = 3 ∥ 8.714 = 2.232 Ω
VB = Is·Req = 3·2.232 = 6.695 V
VA = VB·(R1∥R2)/(R3+R1∥R2) = 6.695·5.714/8.714 = 4.39 V
IR2″ = (VA − 0)/R2 = (4.39 − 0)/20 = 0.2195 A

Add the current contributions

IR2 = IR2′ + IR2″ = 0.1829 + 0.2195 = 0.4024 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.

PR2 = IR2²·R2 = 0.4024²·20 = 3.239 W

Answer

PR2 = 3.239 W

Adding the powers of the separate cases would give 1.633 W, which is wrong.

8.Superposition

Answer: VR2 = 3.63 V

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​ = 6 ΩR2​ = 2 ΩR4​ = 20 Ω+−V1​36 VR3​20 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) = 20 ∥ 22 = 10.48 Ω
VA = 36·10.48/(6+10.48) = 22.89 V
VB = VA·R4/(R2+R4) = 22.89·20/22 = 20.81 V
VR2′ = VB − VA = 20.81 − 22.89 = −2.081 V
R1​ = 6 ΩR2​ = 2 ΩR4​ = 20 ΩSHORTR3​20 ΩAIs​2 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 = 4.615 Ω, so the left path is R2+4.615 = 6.615 Ω
Req = R4 ∥ 6.615 = 4.971 Ω
VB = Is·Req = 2·4.971 = 9.942 V
VA = VB·4.615/6.615 = 6.936 V
VR2″ = VB − VA = 9.942 − 6.936 = 3.006 V
R1​ = 6 ΩR2​ = 2 ΩR4​ = 20 ΩSHORTR3​20 ΩAOPENB+−V2​36 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 = 6·20/(6+20) = 4.615 Ω
VB = V2·(R2+R1∥R3)/(R4+R2+R1∥R3) = 36·6.615/26.62 = 8.948 V
VA = VB·(R1∥R3)/(R2+R1∥R3) = 8.948·4.615/6.615 = 6.243 V
VR2‴ = VB − VA = 8.948 − 6.243 = 2.705 V

Add the contributions

VR2 = VR2′ + VR2″ + VR2‴
VR2 = (−2.081) + 3.006 + 2.705 = 3.63 V

A negative result means the real polarity is opposite to the one marked.

9.Thévenin & Norton

Answer: IN = 1.304 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​ = 4 ΩR3​ = 12 ΩSHORTR2​20 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 = 4·20/(4+20) = 3.333 Ω
Rth = (R1 ∥ R2) + R3 = 3.333 + 12 = 15.33 Ω
R1​ = 4 ΩR3​ = 12 Ω+−V1​24 VR2​20 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) = 24·20/(4+20) = 20 V
IN​1.304 ARth​15.33 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 = 20/15.33 = 1.304 A
10.Thévenin & Norton

Answer: IN = 1.132 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​ = 30 ΩR3​ = 12 ΩSHORTR2​5 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 = 30·5/(30+5) = 4.286 Ω
Rth = (R1 ∥ R2) + R3 = 4.286 + 12 = 16.29 Ω
R1​ = 30 ΩR3​ = 12 Ω+−V1​15 VR2​5 ΩAIs​1 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) = 2.143 + 1·4.286 = 6.429 V
Vth = VB = VA + Is·R3 = 6.429 + 1·12 = 18.43 V
IN​1.132 ARth​16.29 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 = 18.43/16.29 = 1.132 A
11.RC & RL transients

Answer: t = 3.541 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

τ = L/R = 220 mH / 100 Ω = 2.2 ms

Solve for the time

0.2 = 1·e−t/τ → t = τ·ln(1/0.2)
t = 2.2·ln(5) = 3.541 ms

Answer

t = 3.541 ms
12.RC & RL transients

Answer: i2 = 0.2603 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) = 15·1/(6.8 + 1) = 1.923 V

Time constant after the switch opens

τ = R2·C = 1·10 = 10 ms

Discharge

vC(t) = 1.923·e−20/10 = 0.2603 V
i2 = vC/R2 = 0.2603/1 = 0.2603 mA

Answer

i2 = 0.2603 mA
13.AC impedance & phasors

Answer: I = 0.3603 A

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·50 = 314.2 rad/s
XL = ωL = 314.2·0.02 = 6.283 Ω
XC = 1/(ωC) = 1/(314.2·22·10⁻⁶) = 144.7 Ω

Impedance

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

|Z| = √(R² + (XL − XC)²) = √(10² + (−138.4)²) = 138.8 Ω

Current

The same current flows through every element of a series circuit.

I = V/|Z| = 50/138.8 = 0.3603 A

Answer

I = 0.3603 A
14.AC impedance & phasors

Answer: Q = 47.67

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·√(0.2·0.22·10⁻⁶)) = 758.7 Hz

Quality factor

Q compares the reactance at resonance with the resistance: Q = ω₀L/R.

Q = (1/R)·√(L/C) = (1/20)·√(0.2/(0.22·10⁻⁶)) = 47.67

Answer

Q = 47.67
15.AC power & power factor

Answer: I = 317.5 A

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 each load

A lagging load takes reactive power (Q > 0); a leading load supplies it (Q < 0).

Q1 = 30·tan(arccos 0.75) = 26.46 kvar
Q2 = 29·tan(arccos 0.8) = 21.75 kvar

Totals

P = 30 + 29 = 59 kW
Q = 26.46 + 21.75 = 48.21 kvar
S = √(59² + 48.21²) = 76.19 kVA

Total current

I = S/V = 76190/240 = 317.5 A

Answer

I = 317.5 A
16.AC power & power factor

Answer: Inew = 236.3 A

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 = 50·tan(45.57°) = 51.01 kvar
Q2 = P·tan φ2 = 50·tan(23.07°) = 21.3 kvar
QC = Q1 − Q2 = 29.71 kvar

New line current

Inew = P/(V·cos φ2) = 50000/(230·0.92) = 236.3 A

Answer

Inew = 236.3 A
17.Three-phase power

Answer: IL = 132 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 = 75/0.93 = 80.65 kW

Line current

IL = Pin/(√3·VL·cos φ) = 80645/(√3·415·0.85) = 132 A

Answer

IL = 132 A
18.Three-phase power

Answer: QC = 32.82 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 = 60·tan(acos 0.8) = 60·0.75 = 45 kvar
Q2 = 60·tan(acos 0.98) = 60·0.2031 = 12.18 kvar

Reactive power from the capacitors

QC = Q1 − Q2 = 32.82 kvar

Answer

QC = 32.82 kvar
19.Transformers

Answer: I1 = 1 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.

Secondary voltage and current

V2 = 960/4 = 240 V
I2 = 240/60 = 4 A

Primary current

An ideal transformer has no losses: V₁·I₁ = V₂·I₂.

I1 = I2/4 = 1 A

Answer

I1 = 1 A

Check: the load seen from the primary is a²·RL = 960 Ω, and 960/960 gives the same current.

20.Transformers

Answer: Sη,max = 122.5 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

x²·1125 = 750 → x = √(750/1125) = 0.8165

Load at maximum efficiency

Sη,max = x·S = 0.8165·150 = 122.5 kVA

Answer

Sη,max = 122.5 kVA
21.Op-amp circuits

Answer: Vout = −3.826 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 + input

V₊ = Vin·Rb/(Ra + Rb) = −2·22/(1 + 22) = −1.913 V

Non-inverting gain

V₋ = V₊, and the current through R₁ also flows through Rf.

Vout = V₊·(1 + Rf/R1) = −1.913·(1 + 4.7/4.7) = −3.826 V

Answer

Vout = −3.826 V
22.Op-amp circuits

Answer: Av = −14.7

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 each stage

A1 = −Rf1/R1 = −47/4.7 = −10
A2 = 1 + Rf2/R2 = 1 + 4.7/10 = 1.47

Overall gain

Av = A1·A2 = −10·1.47 = −14.7

Answer

Av = −14.7
23.Diodes & transistors

Answer: VCE = 9.528 V

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 = 15·10/(56 + 10) = 2.273 V
RTH = 56·10/(56 + 10) = 8.485 kΩ

Base current

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

IB = (2.273 − 0.7)/(8.485 + 101·1.2) = 12.13 µA

Collector current

IC = 100·12.13 µA = 1.213 mA
IE = 101·12.13 µA = 1.225 mA

Collector–emitter voltage

VCE = 15 − 1.213·3.3 − 1.225·1.2 = 9.528 V

Answer

VCE = 9.528 V
24.Diodes & transistors

Answer: Rmax = 248.1 Ω

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 current

IR = 50 + 2 = 52 mA

Largest resistance

Rmax = 12.9/0.052 = 248.1 Ω

Answer

Rmax = 248.1 Ω
25.Number systems

Answer: N = −125

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 + 2 + 1 = −125

Answer

N = −125
26.Number systems

Answer: R = 125

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.

Bit by bit

OR gives 1 where at least one bit is 1.

0111 1101
OR 0010 1000
= 0111 1101

Value of the result

0111 1101₂ = 125

Answer

R = 125
27.Digital logic: gates, K-maps & flip-flops

Answer: L = 7

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.

ABCD000111100001111000010302040517061121131150141819111110

Group the 1s

Every group is a rectangle of 2ᵏ cells; edge cells are neighbours of the cells on the opposite edge.

BCD
AC′
AB′

Minimal SOP form

F = BCD + AC′ + AB′
L = 7

Answer

L = 7
28.Digital logic: gates, K-maps & flip-flops

Answer: L = 9

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.

BC′D′, A′C′D, A′CD′, ACD, A′BD′, A′BC′
ABCD0001111000011110001103X214150716X12013X150140809111010

Minimal cover

F = A′C′D + ACD + A′BD′
L = 9

Answer

L = 9
29.Laplace transforms

Answer: f(0.3) = 7.497

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).

Complete the square

s² + 2s + 5 = (s + 1)² + 4 = (s + 1)² + 2²

Match the numerator

F(s) = 2·(s + 1)/((s + 1)² + 2²) + (30/2)·2/((s + 1)² + 2²)

Inverse transform

f(t) = e−t·(2·cos 2t + 15·sin 2t)
f(0.3) = e−0.3·(2·cos(2·0.3) + 15·sin(2·0.3)) = 7.497

Answer

f(0.3) = 7.497
30.Laplace transforms

Answer: y(0.75) = −3.697

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

s²Y − (−2)s − (−13) + 4(sY − (−2)) + 3Y = 0
Y(s) = (−2s − 21)/((s + 1)(s + 3))

Partial fractions

A = −19/2 = −9.5
B = −15/(−2) = 7.5

Result

y(t) = −9.5·e−t + 7.5·e−3t
y(0.75) = −3.697

Answer

y(0.75) = −3.697

Check: y(0) = A + B = −2.

31.Block diagrams

Answer: ess = 1.75

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).

Velocity error constant

Kᵥ = lims→0 s·G(s) = 40/7 = 5.714

Steady-state error

ess = A/Kᵥ = 10/5.714 = 1.75

Answer

ess = 1.75
32.Block diagrams

Answer: css = 10.32

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).

Transfer functions

C/D = G/(1 + K·G) = 4/(s + 1 + 92)
C/R = K·G/(1 + K·G) = 92/(s + 1 + 92)

Steady state

css = 10·92/93 + 10·4/93 = 10.32

Answer

css = 10.32

A larger K reduces the effect of the disturbance, but never to zero with a proportional controller.

33.Step response

Answer: σ = −7

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 = 90 → ωₙ = 9.487 rad/s
2ζωₙ = 14 → ζ = 14/(2·9.487) = 0.7379

Result

σ = −ζωₙ = −14/2 = −7

Answer

σ = −7
34.Step response

Answer: %OS = 25.87 %

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).

Natural frequency and damping ratio

ωₙ = √(k/m) = √(2000/0.5) = 63.25 rad/s
ζ = c/(2√(km)) = 25/(2·√(2000·0.5)) = 0.3953

Result

%OS = 100·e−ζπ/√(1−ζ²) = 25.87 %

Answer

%OS = 25.87 %
35.Bode plots & margins

Answer: |G(jω)| = 10.31 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(j15)| = 1428/(√(15² + 12²)·√(15² + 17²)) = 1428/(19.21·22.67) = 3.279

Result

20·log₁₀(3.279) = 10.31 dB

Answer

|G(jω)| = 10.31 dB
36.Bode plots & margins

Answer: ωc = 3.029 rad/s

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 + 16ω² − 231 = 0
ω² = (−16 + √(256 + 4·231))/2 = 9.177
ωc = 3.029 rad/s

Answer

ωc = 3.029 rad/s
37.Stability: Routh–Hurwitz & root locus

Answer: N = 2

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

s³ + 12s² + 32s + 1152 = 0

Routh array

s³: 1, 32
s²: 12, 1152
s¹: −64
s⁰: 1152

Sign changes in the first column

1 → 12 → −64 → 1152
N = 2

Answer

N = 2

The gain is above the limit K = 384, so a complex pair has crossed into the right half-plane.

38.Stability: Routh–Hurwitz & root locus

Answer: K = 4

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.

Break-away point

dK/ds = 0 for K = −(s + 6)(s + 10) gives 2s + 16 = 0.

sb = −8

Magnitude condition

K = |−8 + 6|·|−8 + 10| = 2·2 = 4

Answer

K = 4

For this gain the closed loop is critically damped (ζ = 1).

39.Steady-state error & PID control

Answer: ess = 1

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 = 5/5 = 1

Answer

ess = 1
40.Steady-state error & PID control

Answer: ess = 100

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).

Velocity constant

s·C(s) = 5s + 1 → 1 as s → 0.

Kv = 1·2/40 = 0.05

Ramp error

ess = 5/0.05 = 100

Answer

ess = 100

The PI controller removes the step error completely; a ramp is followed with a constant lag.

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