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​ = 6 ΩIR1​R3​ = 6 Ω+−V1​6 VR2​10 ΩAR4​6 ΩB

Find the current IR1 delivered by the source, which flows through R1.

V1 = 6 VR1 = 6 ΩR2 = 10 ΩR3 = 6 ΩR4 = 6 Ω
IR1 = A
2.Series & parallel resistorsHard
R1​ = 8 ΩR3​ = 2 ΩR5​ = 25 Ω+−V1​36 VR2​20 ΩIR2​AR4​4 ΩBR6​2 Ω

Find the current IR2 through R2.

V1 = 36 VR1 = 8 ΩR2 = 20 ΩR3 = 2 ΩR4 = 4 ΩR5 = 25 ΩR6 = 2 Ω
IR2 = A
3.Nodal analysisMedium
R1​ = 10 ΩR3​ = 6 Ω+−V1​24 VR2​4 ΩAR4​4 ΩBIs​2.5 A

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

V1 = 24 VIs = 2.5 AR1 = 10 ΩR2 = 4 ΩR3 = 6 ΩR4 = 4 Ω
VB = V
4.Nodal analysisHard
R1​ = 6 ΩR3​ = 5 Ω+−V1​36 VR2​12 ΩAR4​10 ΩBIs​?

The current source is adjusted until the node voltage at A is VA = 40 V. Use nodal analysis to find the source current Is (direction as shown).

V1 = 36 VR1 = 6 ΩR2 = 12 ΩR3 = 5 ΩR4 = 10 ΩVA = 40 V
Is = A
5.Mesh analysisMedium
R1​ = 3 ΩR2​ = 6 Ω+−VR2​+−V1​18 VR3​10 ΩA+−V2​30 VI1​I2​

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

V1 = 18 VV2 = 30 VR1 = 3 ΩR2 = 6 ΩR3 = 10 Ω
VR2 = V
6.Mesh analysisHard
R1​ = 3 ΩR2​ = 2 ΩR3​ = 12 Ω+−V1​12 VR4​3 ΩIR4​AR5​6 ΩB+−V2​36 VI1​I2​I3​

Use mesh analysis to find the current IR4 through R4 in the direction of the arrow.

V1 = 12 VV2 = 36 VR1 = 3 ΩR2 = 2 ΩR3 = 12 ΩR4 = 3 ΩR5 = 6 Ω
IR4 = A
7.SuperpositionMedium
R1​ = 15 ΩR3​ = 12 Ω+−V1​15 VR2​20 ΩIR2​AR4​20 ΩBIs​4 A

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

V1 = 15 VIs = 4 AR1 = 15 ΩR2 = 20 ΩR3 = 12 ΩR4 = 20 Ω
IR2 = A
8.SuperpositionHard
linear circuitV1​V2​Is​IRL​

A linear resistive circuit contains three independent sources: V1, V2 and Is. The current I through a load is measured three times. With all sources at their normal values, I = 15.5 mA. With V1 doubled and the other two unchanged, I = 26 mA. With the direction of Is reversed and the other two unchanged, I = 14.5 mA. Find the load current I when V2 is switched off and V1 and Is have their normal values.

normal: I = 15.5 mA2·V1: I = 26 mA−Is: I = 14.5 mA
I = mA
9.Thévenin & NortonMedium
R1​ = 5 ΩR3​ = 5 Ω+−V1​24 VR2​4 ΩARL​10 ΩIL​B

A load RL = 10 Ω is connected across a–b. Replace the rest of the circuit with its Thévenin equivalent and find the load current IL.

V1 = 24 VR1 = 5 ΩR2 = 4 ΩR3 = 5 ΩRL = 10 Ω
IL = A
10.Thévenin & NortonHard
R1​ = 20 ΩR3​ = 3 Ω+−V1​15 VR2​20 ΩAIs​4 ABab

Find the Thévenin voltage Vth seen from terminals a–b.

V1 = 15 VIs = 4 AR1 = 20 ΩR2 = 20 ΩR3 = 3 Ω
Vth = V
11.RC & RL transientsMedium
+−Vs​10 Vt = 0R = 68 ΩL150 mHi(t)

The inductor carries no current before the switch closes at t = 0. Find the voltage vL across the inductor at t = 5 ms.

Vs = 10 VR = 68 ΩL = 150 mHt = 5 ms
vL = V
12.RC & RL transientsHard
+−Vs​9 Vt = 0R = 2.2 kΩC68 µF+−vC​vC​(0) = 10 V

Just before the switch closes at t = 0, the capacitor holds 10 V with the polarity shown. How long does it take for vC to reach 9.2 V? Find t.

Vs = 9 VR = 2.2 kΩC = 68 µFvC(0) = 10 V
t = ms
13.AC impedance & phasorsMedium
120 V200 HzR = 80 ΩL = 20 mHC = 2.2 µFI

A series RLC circuit is connected to a 120 V (rms), 200 Hz supply. Find the rms current I.

V = 120 V (rms)f = 200 HzR = 80 ΩL = 20 mHC = 2.2 µF
I = A
14.AC impedance & phasorsHard
10 Vf0​R = 50 ΩL = 20 mHC = 1 µF

A series RLC circuit is driven by a 10 V (rms) source whose frequency is set to the resonant frequency of the circuit. Find the rms voltage VL across the inductor.

V = 10 V (rms)R = 50 ΩL = 20 mHC = 1 µF
VL = V
15.AC power & power factorMedium
400 V112 kW, 0.8218 kW, 0.95I = ?

Two loads are connected in parallel to a 400 V single-phase supply: a 12 kW load at a power factor of 0.8 lagging and an 18 kW load at a power factor of 0.95 leading. Find the total current I drawn from the supply.

V = 400 VP1 = 12 kW, pf1 = 0.8 laggingP2 = 18 kW, pf2 = 0.95 leading
I = A
16.AC power & power factorHard
P = 5 kWQ1​S1​φ1​QC​

A single-phase load takes 5 kW at a power factor of 0.7 lagging from a 240 V, 50 Hz supply. A capacitor connected in parallel raises the power factor to 0.92. Find the reactive power QC the capacitor must supply.

P = 5 kWpf1 = 0.7pf2 = 0.92V = 240 Vf = 50 Hz
QC = kvar
17.Three-phase powerMedium
ABCVL​ = 415 VIL​ = ?M15 kW, η = 91%cos φ = 0.9

A three-phase induction motor delivers 15 kW of mechanical output power at full load. At this load its efficiency is 91% and its power factor is 0.9 lagging. The supply has a line-to-line voltage of 415 V. Find the line current IL.

Pout = 15 kWη = 91%cos φ = 0.9VL = 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 0.78 lagging from a 690 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. The capacitors are connected in Δ. Find the capacitance Cph of each capacitor in µF.

P = 60 kWpf1 = 0.78pf2 = 0.98VL = 690 Vf = 60 Hz
Cph = µF
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
pf 0.85150 kVA, 75% load

A single-phase 150 kVA transformer has a core loss of 600 W and a copper loss of 1200 W at rated load. It supplies 75% of its rated kVA at a power factor of 0.85 lagging. Find the total losses Ploss in watts at this load.

S = 150 kVAPcore = 600 WPcu,fl = 1200 Wx = 0.75pf = 0.85
Ploss = W
21.Op-amp circuitsMedium
−+Vout​R2​ = 22 kΩV1​ = 0.4 VR1​ = 100 kΩV2​ = −1 VR3​ = 100 kΩR4​ = 22 kΩ

The difference amplifier uses an ideal op-amp with ±15 V supplies, with R3 = R1 and R4 = R2. Find the output voltage Vout.

V1 = 0.4 VV2 = −1 VR1 = R3 = 100 kΩR2 = R4 = 22 kΩ
Vout = V
22.Op-amp circuitsHard
−+Vout​R2​ = 47 kΩV1​ = 1.2 VR1​ = 100 kΩV2​ = 0.6 VR3​ = 47 kΩR4​ = 2 kΩ

The op-amp is ideal and runs from ±15 V supplies. The resistor ratios are not matched. Find the output voltage Vout.

V1 = 1.2 VV2 = 0.6 VR1 = 100 kΩR2 = 47 kΩR3 = 47 kΩR4 = 2 kΩ
Vout = V
23.Diodes & transistorsMedium
+−12 VR = ?4 × 2.1 V5 mA

4 yellow LEDs (forward voltage 2.1 V each) are connected in series with a resistor to a 12 V supply. Find the resistance R that sets the current to 5 mA.

Vs = 12 VVF = 2.1 Vn = 4I = 5 mA
R = Ω
24.Diodes & transistorsHard
+−≥ 12 VR = ?5.1 V≤ 20 mA

A 5.1 V Zener regulator must supply up to 20 mA to a load. The input can drop to 12 V, and the Zener needs at least 5 mA to regulate. Find the largest series resistance Rmax that keeps it regulating.

Vin,min = 12 VVZ = 5.1 VIL,max = 20 mAIZ,min = 5 mA
Rmax = Ω
25.Number systemsMedium
place values in two's complement1−12806413211618041211

The 8-bit pattern 1011 1011 stores a signed integer in two's complement. What is its value N in decimal?

1011 10118 bit
N =
26.Number systemsHard
24 bits, unsigned, N = ?????????????????????????

What is the largest unsigned integer N that fits in 24 bits?

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

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

F = A′BC + AB′C′ + A′B′C′ + AB′C
L =
28.Digital logic: gates, K-maps & flip-flopsHard
ABCD000111100001111000110312X415170601211301501408X9X11X10

Find the minimal SOP form of F(A, B, C, D) = Σm(1, 2, 5, 7, 13) + d(4, 9, 10, 11), where d marks the don't-care conditions. How many product terms N does it have?

F(A, B, C, D) = Σm(1, 2, 5, 7, 13) + d(4, 9, 10, 11)
N =
29.Laplace transformsMedium
ReIm−2−4−6−8−10

F(s) = (3s + 30)/(s² + 11s + 24). Its inverse transform has the form f(t) = A·e−3t + B·e−8t. Find the coefficient A by partial fractions.

F(s) = (3s + 30)/(s² + 11s + 24)
A =
30.Laplace transformsHard
t (s)y(t)t = 0.3y(0.3) = ?

A system obeys y″ + 6y′ + 8y = 48·u(t). It starts at rest (y(0) = 0, y′(0) = 0) and the input is a step u(t) = 5 for t ≥ 0. Use the Laplace transform to find the output y(0.3).

y″ + 6y′ + 8y = 48·u(t)u(t) = 5y(0) = 0, y′(0) = 0t = 0.3 s
y(0.3) =
31.Block diagramsMedium
R(s)+12s + 7G(s)C(s)0.2H−

A plant G(s) = 12/(s + 7) is controlled in a negative feedback loop whose sensor has the gain H = 0.2. Find the time constant τ of the closed loop.

G(s) = 12/(s + 7)H = 0.2
τ = s
32.Block diagramsHard
R(s)+8controller+D(s)+4s + 6plantC(s)−

A proportional controller K = 8 drives the plant G(s) = 4/(s + 6) in a unity negative feedback loop. A disturbance D enters at the plant input (it is added to the controller output). With R = 0, a disturbance step of size 0.5 is applied. Find the steady-state output css.

K = 8G(s) = 4/(s + 6)D = 0.5R = 0
css =
33.Step responseMedium
t (s)y(t)3?

A system has the transfer function G(s) = 285/(s² + 5s + 95) and receives a unit step input. Find the percent overshoot %OS of the step response.

G(s) = 285/(s² + 5s + 95)
%OS = %
34.Step responseHard
k = 400 N/mc = 45 N·s/mm = 8 kgF = 20 Nx(t)

A mass m = 8 kg hangs on a spring k = 400 N/m with a viscous damper c = 45 N·s/m (m·x″ + c·x′ + k·x = F). At rest in equilibrium, a constant force F = 20 N is suddenly applied. Find the largest displacement xmax in mm.

m = 8 kgk = 400 N/mc = 45 N·s/mF = 20 N
xmax = mm
35.Bode plots & marginsMedium
|H| (dB)0.10.1111010100100−200204060ω (rad/s)φ (°)ω (rad/s)−135−90−450ω = 2

Find the phase ∠G(jω) of G(s) = 44(s + 7)/(s(s + 6)) at ω = 2 rad/s, in degrees.

G(s) = 44(s + 7)/(s(s + 6))ω = 2 rad/s
∠G(jω) = °
36.Bode plots & marginsHard
|H| (dB)0.10.1111010100100−80−60−40−2002040ω (rad/s)φ (°)ω (rad/s)−270−180−900ω180​

A unity-feedback loop has the open-loop transfer function L(s) = 308/(s(s + 8)(s + 9)). Find the gain margin GM in dB.

L(s) = 308/(s(s + 8)(s + 9))
GM = dB
37.Stability: Routh–Hurwitz & root locusMedium
R(s)+K1s(s + 1)(s + 2)C(s)−

The loop in the diagram has the open-loop transfer function L(s) = K/(s(s + 1)(s + 2)). Find the largest gain Kmax for which the closed loop is stable.

L(s) = K/(s(s + 1)(s + 2))
Kmax =
38.Stability: Routh–Hurwitz & root locusHard
ReIm−1−2−3−4−5−6−7−8−9−101j1j2

A unity-feedback loop has L(s) = K/((s + 8)(s + 3)(s + 1)). Find the point σa where the asymptotes of the root locus cross the real axis.

L(s) = K/((s + 8)(s + 3)(s + 1))
σa =
39.Steady-state error & PID controlMedium
r(t) = 1 + 0.5t+2s(s + 10)C(s)−

The input r(t) = 1 + 0.5t (a step plus a ramp) is applied to a unity-feedback loop with G(s) = 2/(s(s + 10)). Find the steady-state error ess.

G(s) = 2/(s(s + 10))r(t) = 1 + 0.5t
ess =
40.Steady-state error & PID controlHard
R(s)+K = 205s(s + 4)C(s)−

A proportional controller K = 20 drives the plant G(s) = 5/(s(s + 4)) in a unity-feedback loop. Find the peak time tp of the step response.

G(s) = 5/(s(s + 4))K = 20
tp = s

3Solutions

1.Series & parallel resistors

Answer: IR1 = 0.5238 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.

R1​ = 6 ΩR3​ = 6 Ω+−V1​6 VR2​10 ΩAR4​6 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 = 6 + 6 = 12 Ω
R2 ∥ 12 = 10·12/(10+12) = 5.455 Ω
Req = R1 + 5.455 = 6 + 5.455 = 11.45 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 = 6/11.45 = 0.5238 A

Answer

IR1 = 0.5238 A
2.Series & parallel resistors

Answer: IR2 = 0.6296 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.

R1​ = 8 ΩR3​ = 2 ΩR5​ = 25 Ω+−V1​36 VR2​20 ΩAR4​4 ΩBR6​2 Ω

Combine resistors from the far end

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

R5 + R6 = 25 + 2 = 27 Ω
R4 ∥ 27 = 3.484 Ω
R3 + 3.484 = 5.484 Ω
R2 ∥ 5.484 = 4.304 Ω
Req = R1 + 4.304 = 8 + 4.304 = 12.3 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 = 36/12.3 = 2.926 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 − 2.926·8 = 12.59 V
IR2 = VA/R2 = 12.59/20 = 0.6296 A

Answer

IR2 = 0.6296 A
3.Nodal analysis

Answer: VB = 9.022 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​ = 10 ΩR3​ = 6 Ω+−V1​24 VR2​4 ΩAR4​4 ΩBIs​2.5 A

Set up the nodes

Ground is the bottom wire. Known node voltages come straight from the sources (V1 = 24 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/4 + (VA − 24)/10 + (VA − VB)/6 = 0
0.5167·VA − 0.1667·VB = 2.4

KCL at node B

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

VB/R4 + (VB − VA)/R3 = Is
VB/4 + (VB − VA)/6 = 2.5
−0.1667·VA + 0.4167·VB = 2.5

Solve

Δ = (0.5167)(0.4167) − (−0.1667)(−0.1667) = 0.1875
VA = Δ1/Δ = 1.417/0.1875 = 7.556 V
VB = Δ2/Δ = 1.692/0.1875 = 9.022 V

Answer

VB = 9.022 V
4.Nodal analysis

Answer: Is = 10 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
(40 − 36)/6 + 40/12 = (VB − 40)/5
4 = (VB − 40)/5 → VB = 60 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 = (60 − 40)/5 + 60/10 = 10 A

Answer

Is = 10 A
5.Mesh analysis

Answer: VR2 = −11.67 V

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

R1​ = 3 ΩR2​ = 6 Ω+−V1​18 VR3​10 ΩA+−V2​30 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 + 10(I1 − I2) = 18
13·I1 − 10·I2 = 18

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
6·I2 + 10(I2 − I1) = (−30)
−10·I1 + 16·I2 = −30

Solve

Δ = (13)(16) − (−10)(−10) = 108
I1 = Δ1/Δ = −12/108 = −0.1111 A
I2 = Δ2/Δ = −210/108 = −1.944 A

Answer

IR2 = I2 = −1.944 A
VR2 = IR2·R2 = −1.944·6 = −11.67 V

A negative mesh current flows anticlockwise.

6.Mesh analysis

Answer: IR4 = 2.4 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​ = 2 ΩR3​ = 12 Ω+−V1​12 VR4​3 ΩAR5​6 ΩB+−V2​36 VI1​I2​I3​

Assign mesh currents

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

KVL around mesh 1

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

R1·I1 + R4(I1 − I2) = V1
3·I1 + 3(I1 − I2) = 12
6·I1 − 3·I2 = 12

KVL around mesh 2

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

R2·I2 + R4(I2 − I1) + R5(I2 − I3) = 0
2·I2 + 3(I2 − I1) + 6(I2 − I3) = 0
−3·I1 + 11·I2 − 6·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
12·I3 + 6(I3 − I2) = (−36)
−6·I2 + 18·I3 = −36

Solve

Δ = det of the coefficient matrix = 810
I1 = Δ1/Δ = 1296/810 = 1.6 A
I2 = Δ2/Δ = −648/810 = −0.8 A
I3 = Δ3/Δ = −1836/810 = −2.267 A

Answer

IR4 = I1 − I2 = 2.4 A

A negative mesh current flows anticlockwise.

7.Superposition

Answer: IR2 = −0.507 A

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

R1​ = 15 ΩR3​ = 12 Ω+−V1​15 VR2​20 ΩAR4​20 ΩBOPEN

Case 1 · V1 acting alone

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

R3+R4 = 12+20 = 32 Ω
R2 ∥ (R3+R4) = 20·32/(20+32) = 12.31 Ω
VA = 15·12.31/(15+12.31) = 6.761 V
VB = VA·R4/(R3+R4) = 6.761·20/32 = 4.225 V
IR2′ = (VA − 0)/R2 = (6.761 − 0)/20 = 0.338 A
R1​ = 15 ΩR3​ = 12 ΩSHORTR2​20 ΩAR4​20 ΩBIs​4 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 = 15·20/(15+20) = 8.571 Ω
Req = R4 ∥ (R3+R1∥R2) = 20 ∥ 20.57 = 10.14 Ω
VB = Is·Req = (−4)·10.14 = −40.56 V
VA = VB·(R1∥R2)/(R3+R1∥R2) = −40.56·8.571/20.57 = −16.9 V
IR2″ = (VA − 0)/R2 = (−16.9 − 0)/20 = −0.8451 A

Add the contributions

IR2 = IR2′ + IR2″
IR2 = 0.338 + (−0.8451) = −0.507 A

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

8.Superposition

Answer: I = 11 mA

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.

Write the measurements with contributions

Each contribution is proportional to its own source.

I₁ + I₂ + I₃ = 15.5
2·I₁ + I₂ + I₃ = 26
I₁ + I₂ − I₃ = 14.5

Solve for the contributions

I₁ = 26 − 15.5 = 10.5 mA
I₃ = (15.5 − 14.5)/2 = 0.5 mA
I₂ = 15.5 − 10.5 − 0.5 = 4.5 mA

Switch V₂ off

I = I₁ + I₃ = 10.5 + 0.5 = 11 mA

Answer

I = 11 mA
9.Thévenin & Norton

Answer: IL = 0.6194 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​ = 5 ΩR3​ = 5 ΩSHORTR2​4 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 = 5·4/(5+4) = 2.222 Ω
Rth = (R1 ∥ R2) + R3 = 2.222 + 5 = 7.222 Ω
R1​ = 5 ΩR3​ = 5 Ω+−V1​24 VR2​4 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) = 24·4/(5+4) = 10.67 V
Rth​ = 7.222 Ω+−Vth​10.67 VRL​10 ΩIL​

Connect the load to the Thévenin equivalent

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

IL = Vth/(Rth + RL) = 10.67/(7.222 + 10) = 0.6194 A
10.Thévenin & Norton

Answer: Vth = 59.5 V

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

R1​ = 20 ΩR3​ = 3 ΩSHORTR2​20 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 = 20·20/(20+20) = 10 Ω
Rth = (R1 ∥ R2) + R3 = 10 + 3 = 13 Ω
R1​ = 20 ΩR3​ = 3 Ω+−V1​15 VR2​20 ΩAIs​4 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) = 7.5 + 4·10 = 47.5 V
Vth = VB = VA + Is·R3 = 47.5 + 4·3 = 59.5 V
11.RC & RL transients

Answer: vL = 1.037 V

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 = 150 mH / 68 Ω = 2.206 ms
i(∞) = Vs/R = 10/68 = 0.1471 A

Inductor voltage

At t = 0 the whole supply voltage appears across the inductor; it then decays to zero.

vL(t) = Vs·e−t/τ = 10·e−5/2.206 = 1.037 V

Answer

vL = 1.037 V
12.RC & RL transients

Answer: t = 240.8 ms

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

Initial value, final value, time constant

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

vC(0) = 10 V, vC(∞) = Vs = 9 V
τ = R·C = 2.2 kΩ · 68 µF = 149.6 ms
vC(t) = 9 + (10 − 9)·e−t/τ

Solve for the time

9.2 = 9 + (1)·e−t/τ → e−t/τ = (9.2 − 9)/(10 − 9) = 0.2
t = τ·ln((10 − 9)/(9.2 − 9)) = 149.6·ln(5) = 240.8 ms

Answer

t = 240.8 ms
13.AC impedance & phasors

Answer: I = 0.3469 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·200 = 1257 rad/s
XL = ωL = 1257·0.02 = 25.13 Ω
XC = 1/(ωC) = 1/(1257·2.2·10⁻⁶) = 361.7 Ω

Impedance

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

|Z| = √(R² + (XL − XC)²) = √(80² + (−336.6)²) = 346 Ω

Current

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

I = V/|Z| = 120/346 = 0.3469 A

Answer

I = 0.3469 A
14.AC impedance & phasors

Answer: VL = 28.28 V

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

Resonance

At resonance the reactances cancel, so the impedance is just R.

ω₀ = 1/√(LC) = 1/√(0.02·1·10⁻⁶) = 7071 rad/s
I = V/R = 10/50 = 0.2 A

Voltage across the inductor

XL = ω₀L = 7071·0.02 = 141.4 Ω
VL = I·XL = 0.2·141.4 = 28.28 V

Answer

VL = 28.28 V

This is Q = 2.828 times the supply voltage.

15.AC power & power factor

Answer: I = 75.4 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 = 12·tan(arccos 0.8) = 9 kvar
Q2 = −18·tan(arccos 0.95) = −5.916 kvar

Totals

P = 12 + 18 = 30 kW
Q = 9 + (−5.916) = 3.084 kvar
S = √(30² + 3.084²) = 30.16 kVA

Total current

I = S/V = 30158/400 = 75.4 A

Answer

I = 75.4 A
16.AC power & power factor

Answer: QC = 2.971 kvar

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

Reactive power before and after

The real power P does not change; only the reactive power drawn from the supply does.

Q1 = P·tan φ1 = 5·tan(45.57°) = 5.101 kvar
Q2 = P·tan φ2 = 5·tan(23.07°) = 2.13 kvar
QC = Q1 − Q2 = 2.971 kvar

Answer

QC = 2.971 kvar
17.Three-phase power

Answer: IL = 25.48 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 = 15/0.91 = 16.48 kW

Line current

IL = Pin/(√3·VL·cos φ) = 16484/(√3·415·0.9) = 25.48 A

Answer

IL = 25.48 A
18.Three-phase power

Answer: Cph = 66.77 µF

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

Reactive power before and after

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

Q1 = 60·tan(acos 0.78) = 60·0.8023 = 48.14 kvar
Q2 = 60·tan(acos 0.98) = 60·0.2031 = 12.18 kvar

Reactive power from the capacitors

QC = Q1 − Q2 = 35.95 kvar

Capacitance per phase

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

V = 690 V, ω = 2π·60 = 377 rad/s
Cph = (QC/3)/(ω·V²) = 11984/(377·690²) = 66.77 µF

Answer

Cph = 66.77 µF
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: Ploss = 1275 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.

Copper loss at this load

Pcu = x²·Pcu,fl = 0.5625·1200 = 675 W

Total losses

The core loss is the same at any load.

Ploss = 600 + 675 = 1275 W

Answer

Ploss = 1275 W

The efficiency at this load is η = 98.68%.

21.Op-amp circuits

Answer: Vout = −0.308 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₊.

V₊ = V2·R4/(R3 + R4) = −1·22/(100 + 22) = −0.1803 V
V₋ = V₊

KCL at the inverting input

(0.4 − −0.1803)/100 = (−0.1803 − Vout)/22
Vout = (R2/R1)·(V2 − V1) = (22/100)·(−1 − 0.4) = −0.308 V

Answer

Vout = −0.308 V
22.Op-amp circuits

Answer: Vout = −0.528 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₊ = V2·R4/(R3 + R4) = 0.6·2/(47 + 2) = 0.02449 V

Superpose the two inputs

With V₂ = 0, V₁ sees an inverting amplifier. With V₁ = 0, V₊ is amplified by the non-inverting gain 1 + R₂/R₁.

Vout = −(47/100)·1.2 + (1 + 47/100)·0.02449 = −0.564 + 0.036 = −0.528 V

Answer

Vout = −0.528 V
23.Diodes & transistors

Answer: R = 720 Ω

LED and diode circuits: a forward-biased LED drops roughly its forward voltage VF (about 2 V for red, 3 V for blue or white), whatever the current. A series resistor sets the current: R = (Vs − n·VF)/I for n LEDs in series. With a more exact diode model V = V₀ + I·rd, the operating point is where the diode line meets the load line I = (Vs − V)/R, so I = (Vs − V₀)/(R + rd).

Voltage across the resistor

VR = 12 − 4·2.1 = 3.6 V

Resistance

R = 3.6/0.005 = 720 Ω

Answer

R = 720 Ω

The resistor dissipates 18 mW.

24.Diodes & transistors

Answer: Rmax = 276 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 = 20 + 5 = 25 mA

Largest resistance

Rmax = 6.9/0.025 = 276 Ω

Answer

Rmax = 276 Ω
25.Number systems

Answer: N = −69

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 + 32 + 16 + 8 + 2 + 1 = −69

Answer

N = −69
26.Number systems

Answer: N = 1.678 × 10⁷

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.

Largest value

224 − 1 = 16777215

Answer

N = 16777215
27.Digital logic: gates, K-maps & flip-flops

Answer: L = 7

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

Minterms of the expression

A′BC → m(3)
AB′C′ → m(4)
A′B′C′ → m(0)
AB′C → m(5)
ABC00011110011001130214150706

Group and read off

F = B′C′ + AB′ + A′BC

Count the literals

L = 7

Answer

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

Answer: N = 3

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

Prime implicants

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

C′D, B′CD′, A′BD, A′BC′
ABCD000111100001111000110312X415170601211301501408X9X11X10

Minimal cover

F = C′D + B′CD′ + A′BD
N = 3

Answer

N = 3
29.Laplace transforms

Answer: A = 4.2

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 + 11s + 24 = (s + 3)(s + 8)
F(s) = A/(s + 3) + B/(s + 8)

Cover-up rule

Multiply by (s + 3) and set s = −3: the B-term vanishes.

A = (3s + 30)/(s + 8) |s = −3 = 21/5 = 4.2

Answer

A = 4.2
(B = −1.2, so f(t) = 4.2·e−3t − 1.2·e−8t)
30.Laplace transforms

Answer: y(0.3) = 6.107

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

Transform the equation

Y(s) = 240/(s(s + 2)(s + 4))

Partial fractions

A = 240/(2·4) = 30
B = 240/((−2)·2) = −60
C = 240/((−4)·(−2)) = 30

Output

y(t) = 30 − 60·e−2t + 30·e−4t
y(0.3) = 6.107

Answer

y(0.3) = 6.107
31.Block diagrams

Answer: τ = 0.1064 s

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).

Closed-loop transfer function

T(s) = G/(1 + G·H) = 12/(s + 7 + 2.4) = 12/(s + 9.4)

Result

τ = 1/9.4 = 0.1064 s

Answer

τ = 0.1064 s
32.Block diagrams

Answer: css = 0.05263

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 + 6 + 32)

Steady state

css = 0.5·4/38 = 0.05263

Answer

css = 0.05263

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

33.Step response

Answer: %OS = 43.44 %

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 = 95 → ωₙ = 9.747 rad/s
2ζωₙ = 5 → ζ = 5/(2·9.747) = 0.2565

Result

%OS = 100·e−ζπ/√(1−ζ²) = 100·e−0.8337 = 43.44 %

Answer

%OS = 43.44 %
34.Step response

Answer: xmax = 62.81 mm

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) = √(400/8) = 7.071 rad/s
ζ = c/(2√(km)) = 45/(2·√(400·8)) = 0.3977

Result

xst = F/k = 20/400 m = 50 mm
%OS = 25.62 %
xmax = 50·(1 + 0.2562) = 62.81 mm

Answer

xmax = 62.81 mm
35.Bode plots & margins

Answer: ∠G(jω) = −92.49 °

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.

Add the angles

∠G = atan(2/7) − 90° − atan(2/6) = 15.95° − 90° − 18.43°

Result

∠G(j2) = −92.49°

Answer

∠G(jω) = −92.49°
36.Bode plots & margins

Answer: GM = 11.98 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.

Phase crossover

(ω/8)·(ω/9) = 1 → ω180 = √(8·9) = 8.485 rad/s

Magnitude at phase crossover

|L(jω180)| = K/(ω·√(ω² + 64)·√(ω² + 81)) = K/(8·9·(8 + 9)) = K/1224

Gain margin

GM = 20·log₁₀(1224/308) = 11.98 dB

Answer

GM = 11.98 dB
37.Stability: Routh–Hurwitz & root locus

Answer: Kmax = 6

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 equation

s³ + 3s² + 2s + K = 0

Routh array

s³: 1, 2
s²: 3, K
s¹: (3·2 − K)/3
s⁰: K

Conditions

Every entry of the first column must be positive.

K > 0
3·2 − K > 0 → K < 6

Answer

Kmax = 6

At K = 6 the closed loop oscillates at ω = √2 = 1.414 rad/s.

38.Stability: Routh–Hurwitz & root locus

Answer: σa = −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.

Poles and zeros

poles: −8, −3, −1
n − m = 3 − 0 = 3

Centroid

σa = (−12)/3 = −4

Answer

σa = −4

The 3 asymptotes leave the centroid at angles of 60°, 180°, 300°.

39.Steady-state error & PID control

Answer: ess = 2.5

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) = 0.2

Step part

Kp = ∞ → estep = 0

Ramp error

ess = 0.5/0.2 = 2.5

Answer

ess = 2.5
40.Steady-state error & PID control

Answer: tp = 0.3206 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 + 4) + 20·5 = s² + 4s + 100

ωₙ and ζ

ωₙ = √100 = 10 rad/s
ζ = 4/(2·10) = 0.2

Peak time

ωd = 10·√(1 − 0.2²) = 9.798 rad/s
tp = π/9.798 = 0.3206 s

Answer

tp = 0.3206 s

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