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​ = 4 ΩIR1​R3​ = 6 Ω+−V1​24 VR2​10 ΩAR4​3 ΩB

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

V1 = 24 VR1 = 4 ΩR2 = 10 ΩR3 = 6 ΩR4 = 3 Ω
IR1 = A
2.Series & parallel resistorsHard
R1​ = 15 ΩIR1​R3​ = 8 ΩR5​ = 4 Ω+−V1​30 VR2​5 ΩAR4​4 ΩBR6​3 Ω

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

V1 = 30 VR1 = 15 ΩR2 = 5 ΩR3 = 8 ΩR4 = 4 ΩR5 = 4 ΩR6 = 3 Ω
IR1 = A
3.Nodal analysisMedium
R1​ = 20 ΩIR1​R3​ = 6 Ω+−V1​30 VR2​2 ΩAR4​3 ΩBIs​5 A

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

V1 = 30 VIs = 5 AR1 = 20 ΩR2 = 2 ΩR3 = 6 ΩR4 = 3 Ω
IR1 = A
4.Nodal analysisHard
R1​ = 10 ΩR3​ = 25 Ω+−V1​10 VR2​30 ΩAR4​4 ΩBIs​?

The current source is adjusted until the node voltage at A is VA = 9 V. Use nodal analysis to find the source current Is (direction as shown).

V1 = 10 VR1 = 10 ΩR2 = 30 ΩR3 = 25 ΩR4 = 4 ΩVA = 9 V
Is = A
5.Mesh analysisMedium
R1​ = 12 Ω+−VR1​R2​ = 3 Ω+−V1​30 VR3​8 ΩA+−V2​30 VI1​I2​

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

V1 = 30 VV2 = 30 VR1 = 12 ΩR2 = 3 ΩR3 = 8 Ω
VR1 = V
6.Mesh analysisHard
R1​ = 5 ΩR2​ = 20 ΩR3​ = 3 Ω+−V1​12 VR4​10 ΩIR4​AR5​4 ΩB+−V2​6 VI1​I2​I3​

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

V1 = 12 VV2 = 6 VR1 = 5 ΩR2 = 20 ΩR3 = 3 ΩR4 = 10 ΩR5 = 4 Ω
IR4 = A
7.SuperpositionMedium
R1​ = 5 ΩR3​ = 8 ΩIR3​+−V1​6 VR2​20 ΩAR4​8 ΩBIs​?

Find the value of the current source Is (direction as shown) that makes the current IR3 through R3 equal to zero.

V1 = 6 VR1 = 5 ΩR2 = 20 ΩR3 = 8 ΩR4 = 8 Ω
Is = A
8.SuperpositionHard
R1​ = 3 ΩR2​ = 20 ΩR4​ = 6 ΩIR4​+−V1​6 VR3​15 ΩAIs​3 AB+−V2​12 V

Use superposition to find the power PR4 absorbed by R4.

V1 = 6 VIs = 3 AV2 = 12 VR1 = 3 ΩR2 = 20 ΩR3 = 15 ΩR4 = 6 Ω
PR4 = W
9.Thévenin & NortonMedium
R1​ = 5 ΩR3​ = 5 Ω+−V1​10 VR2​8 ΩARL​6 ΩIL​B

A load RL = 6 Ω is connected across a–b. Replace the rest of the circuit with its Thévenin equivalent and find the load current IL.

V1 = 10 VR1 = 5 ΩR2 = 8 ΩR3 = 5 ΩRL = 6 Ω
IL = A
10.Thévenin & NortonHard
R1​ = 20 ΩR3​ = 2 Ω+−V1​18 VR2​3 ΩAIs​1.5 ABRL​25 ΩIL​

A load RL = 25 Ω is connected across a–b. Replace the rest of the circuit with its Thévenin equivalent and find the load current IL.

V1 = 18 VIs = 1.5 AR1 = 20 ΩR2 = 3 ΩR3 = 2 ΩRL = 25 Ω
IL = A
11.RC & RL transientsMedium
+−Vs​12 Vt = 0R = 33 ΩL68 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 = 12 VR = 33 ΩL = 68 mHt = 5 ms
vL = V
12.RC & RL transientsHard
+−Vs​15 Vt = 0R = ?C47 µF+−vC​

A timer starts charging an uncharged capacitor through a resistor from a 15 V supply at t = 0. It must trigger when the capacitor voltage reaches 7.5 V, exactly 20 ms after the start. With C = 47 µF, find the resistance R needed.

Vs = 15 VVth = 7.5 VT = 20 msC = 47 µF
R = kΩ
13.AC impedance & phasorsMedium
Vf0​ = 5000 HzRL = ?C = 22 µF

A series RLC circuit with C = 22 µF must resonate at 5000 Hz. Find the inductance L needed.

f0 = 5000 HzC = 22 µF
L = mH
14.AC impedance & phasorsHard
10 Vf0​R = 20 ΩL = 200 mHC = 0.22 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 = 20 ΩL = 200 mHC = 0.22 µF
VL = V
15.AC power & power factorMedium
P = 32 kWQSφ

A single-phase motor takes 32 kW at a power factor of 0.8 lagging from a 240 V supply. Find the line current I.

P = 32 kWpf = 0.8V = 240 V
I = A
16.AC power & power factorHard
P = 25 kWQ1​S1​φ1​QC​

A single-phase load takes 25 kW at a power factor of 0.65 lagging from a 240 V, 60 Hz supply. A capacitor connected in parallel raises the power factor to 0.95. Find the reactive power QC the capacitor must supply.

P = 25 kWpf1 = 0.65pf2 = 0.95V = 240 Vf = 60 Hz
QC = kvar
17.Three-phase powerMedium
ABCVL​ = 400 VIL​ = 40 Acos φ = 0.9lagging

A balanced three-phase load draws a line current of 40 A from a supply with a line-to-line voltage of 400 V. The power factor is 0.9 lagging. Find the total real power P drawn by the load in kW.

VL = 400 VIL = 40 Acos φ = 0.9
P = kW
18.Three-phase powerHard
P = 100 kWφ1​S1​Q2​QC​

A balanced three-phase load takes 100 kW at a power factor of 0.78 lagging from a 400 V (line-to-line), 50 Hz supply. A three-phase capacitor bank in parallel with the load must raise the overall power factor to 0.92 lagging. The real power stays the same. The capacitors are connected in Y. Find the capacitance Cph of each capacitor in µF.

P = 100 kWpf1 = 0.78pf2 = 0.92VL = 400 Vf = 50 Hz
Cph = µF
19.TransformersMedium
RL​ = 15 Ω21240 VV2​I1​ = ?I2​

An ideal transformer with a turns ratio N₁:N₂ = 2:1 has 240 V applied to its primary winding. A 15 Ω resistor is connected across the secondary winding. Find the primary current I1.

N1:N2 = 2:1V1 = 240 VRL = 15 Ω
I1 = A
20.TransformersHard
pf 0.95100 kVA, 25% load

A single-phase 100 kVA transformer has a core loss of 300 W and a copper loss of 900 W at rated load. It supplies 25% of its rated kVA at a power factor of 0.95 lagging. Find the total losses Ploss in watts at this load.

S = 100 kVAPcore = 300 WPcu,fl = 900 Wx = 0.25pf = 0.95
Ploss = W
21.Op-amp circuitsMedium
−+Vout​Rf​ = 47 kΩR1​ = 22 kΩVin​ = 2.5 VRa​ = 4.7 kΩRb​ = 2 kΩ

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

Vin = 2.5 VRa = 4.7 kΩRb = 2 kΩR1 = 22 kΩRf = 47 kΩ
Vout = V
22.Op-amp circuitsHard
−+Vout​Rf​ = 100 kΩV1​ = −0.6 VR1​ = 22 kΩV2​ = −1.8 VR2​ = 47 kΩ

The summing amplifier uses an ideal op-amp with ±15 V supplies. Find the output voltage Vout.

V1 = −0.6 VV2 = −1.8 VR1 = 22 kΩR2 = 47 kΩRf = 100 kΩ
Vout = V
23.Diodes & transistorsMedium
+−9 VR = ?3 × 2.1 V15 mA

3 yellow LEDs (forward voltage 2.1 V each) are connected in series with a resistor to a 9 V supply. Find the resistance R that sets the current to 15 mA.

Vs = 9 VVF = 2.1 Vn = 3I = 15 mA
R = Ω
24.Diodes & transistorsHard
RC​ = 330 Ωβ = 80VCC​ = 24 V5 VRB​ = ?

An NPN transistor with β = 80 switches a 330 Ω load resistor connected between VCC = 24 V and its collector. The emitter is grounded. The base is driven from a 5 V logic output through a base resistor RB. Take VBE = 0.7 V and VCE(sat) = 0.2 V. For reliable switching, design for a base current 10 times the minimum needed for saturation. Find RB in kΩ.

VCC = 24 VRC = 330 Ωβ = 80Vin = 5 VVBE = 0.7 VVCE(sat) = 0.2 Voverdrive = 10
RB = kΩ
25.Number systemsMedium
8-bit two's complement?−128?64?32?16?8?4?2?1

Write −114 as an 8-bit two's complement pattern. Read the pattern as an unsigned binary number: what is its value U in decimal?

N = −1148 bit
U =
26.Number systemsHard
16 bit1 px512 px512 pxM = ? KiB

An uncompressed image is 512 × 512 pixels with 16 bits per pixel. How much memory M does it take, in KiB (1 KiB = 1024 bytes)?

512 × 512 px16 bit/px1 KiB = 1024 B
M = KiB
27.Digital logic: gates, K-maps & flip-flopsMedium
ABCD000111100001111010011302140517161120131150141819011110

Use the Karnaugh map to find the minimal product-of-sums (POS) form of F(A, B, C, D) = Σm(0, 3, 4, 6, 7, 8, 9, 10, 12, 15). How many sum terms (factors) N does it have?

F(A, B, C, D) = Σm(0, 3, 4, 6, 7, 8, 9, 10, 12, 15)
N =
28.Digital logic: gates, K-maps & flip-flopsHard
CLKD123456

A positive-edge-triggered D flip-flop starts with Q = 0 and receives the inputs shown at 6 rising clock edges. How many times N does Q change state?

Q₀ = 0D
N =
29.Laplace transformsMedium
ReIm−2−4−6−8−10−12−14−16

F(s) = (2s + 31)/(s² + 8s + 15). Its inverse transform has the form f(t) = A·e−3t + B·e−5t. Find the coefficient A by partial fractions.

F(s) = (2s + 31)/(s² + 8s + 15)
A =
30.Laplace transformsHard
t (s)y(t)t = 0.3y(0.3) = ?

A system obeys y″ + 9y′ + 18y = 54·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″ + 9y′ + 18y = 54·u(t)u(t) = 5y(0) = 0, y′(0) = 0t = 0.3 s
y(0.3) =
31.Block diagramsMedium
R(s)+13s + 6G(s)C(s)0.5H−

A plant G(s) = 13/(s + 6) is controlled in a negative feedback loop whose sensor has the gain H = 0.5. A step of size 10 is applied at R. Find the steady-state output css.

G(s) = 13/(s + 6)H = 0.5R = 10
css =
32.Block diagramsHard
R(s)+Ks(s + 1)(s + 3)G(s)C(s)−

The plant G(s) = K/(s(s + 1)(s + 3)) is in a unity negative feedback loop. Use the Routh–Hurwitz criterion to find the largest gain Kmax for which the closed loop is stable.

G(s) = K/(s(s + 1)(s + 3))unity negative feedback
Kmax =
33.Step responseMedium
t (s)y(t)0.5tp​ = ?

A system has the transfer function G(s) = 48.5/(s² + 10s + 97) and receives a unit step input. Find the peak time tp of the step response.

G(s) = 48.5/(s² + 10s + 97)
tp = s
34.Step responseHard
+−10 VR = 13 ΩL = 50 mHC = 100 µFvC​

A series RLC circuit with R = 13 Ω, L = 50 mH and C = 100 µF is connected to a 10 V step at t = 0. The capacitor is uncharged and no current flows before the step. Find the undamped natural frequency ωn in rad/s.

R = 13 ΩL = 50 mHC = 100 µFV = 10 V
ωn = rad/s
35.Bode plots & marginsMedium
vin​C = 47 nFR = 2.2 kΩvout​

The RC high-pass filter shown has R = 2.2 kΩ, C = 47 nF. A sinusoidal input of 310 Hz is applied. Find the phase shift φ of vout relative to vin, in degrees.

R = 2.2 kΩC = 47 nFf = 310 Hz
φ = °
36.Bode plots & marginsHard
|H| (dB)0.10.1111010100100−60−40−200204060ω (rad/s)φ (°)ω (rad/s)−270−180−900ω180​ = ?

A unity-feedback loop has the open-loop transfer function L(s) = 800/(s(s + 7)(s + 9)). Find the phase crossover frequency ω180, where ∠L(jω) = −180°.

L(s) = 800/(s(s + 7)(s + 9))
ω180 = rad/s
37.Stability: Routh–Hurwitz & root locusMedium
R(s)+K = 481s(s + 2)(s + 6)C(s)−

The loop in the diagram runs with K = 48 and L(s) = K/(s(s + 2)(s + 6)). By what factor m can the gain be raised before the closed loop becomes unstable?

L(s) = K/(s(s + 2)(s + 6))K = 48
m =
38.Stability: Routh–Hurwitz & root locusHard
ReIm−2−4j2j4

For L(s) = K/((s + 2)(s² + 8s + 32)), find the angle of departure θd of the root locus from the complex pole in the upper half-plane, measured from the positive real axis.

L(s) = K/((s + 2)(s² + 8s + 32))
θd = °
39.Steady-state error & PID controlMedium
r(t) = 5t+Ks(s + 4)C(s)−

A unity-feedback loop with G(s) = K/(s(s + 4)) must follow the ramp r(t) = 5t with a steady-state error of 0.1. Find the gain K.

G(s) = K/(s(s + 4))r(t) = 5tess = 0.1
K =
40.Steady-state error & PID controlHard
R(s)+8 + Kd​s2s(s + 2)C(s)−

A PD controller C(s) = 8 + Kd·s drives the plant G(s) = 2/(s(s + 2)) in a unity-feedback loop. Find the derivative gain Kd that gives the closed loop a damping ratio ζ = 0.5.

G(s) = 2/(s(s + 2))Kp = 8ζ = 0.5
Kd = s

3Solutions

1.Series & parallel resistors

Answer: IR1 = 2.747 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​ = 4 ΩR3​ = 6 Ω+−V1​24 VR2​10 ΩAR4​3 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 + 3 = 9 Ω
R2 ∥ 9 = 10·9/(10+9) = 4.737 Ω
Req = R1 + 4.737 = 4 + 4.737 = 8.737 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 = 24/8.737 = 2.747 A

Answer

IR1 = 2.747 A
2.Series & parallel resistors

Answer: IR1 = 1.631 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​ = 15 ΩR3​ = 8 ΩR5​ = 4 Ω+−V1​30 VR2​5 ΩAR4​4 ΩBR6​3 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 = 4 + 3 = 7 Ω
R4 ∥ 7 = 2.545 Ω
R3 + 2.545 = 10.55 Ω
R2 ∥ 10.55 = 3.392 Ω
Req = R1 + 3.392 = 15 + 3.392 = 18.39 Ω

Current from the source

The source sees only Req, so Ohm’s law gives the current it delivers. That current flows through R₁.

IR1 = V1/Req = 30/18.39 = 1.631 A

Answer

IR1 = 1.631 A
3.Nodal analysis

Answer: IR1 = 1.513 A

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

R1​ = 20 ΩR3​ = 6 Ω+−V1​30 VR2​2 ΩAR4​3 ΩBIs​5 A

Set up the nodes

Ground is the bottom wire. Known node voltages come straight from the sources (V1 = 30 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 − 30)/20 + (VA − VB)/6 = 0
0.7167·VA − 0.1667·VB = 1.5

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/3 + (VB − VA)/6 = (−5)
−0.1667·VA + 0.5·VB = −5

Solve

Δ = (0.7167)(0.5) − (−0.1667)(−0.1667) = 0.3306
VA = Δ1/Δ = −0.08333/0.3306 = −0.2521 V
VB = Δ2/Δ = −3.333/0.3306 = −10.08 V

Answer

IR1 = (V1 − VA)/R1 = (30 − −0.2521)/20 = 1.513 A
4.Nodal analysis

Answer: Is = 3.7 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
(9 − 10)/10 + 9/30 = (VB − 9)/25
0.2 = (VB − 9)/25 → VB = 14 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 = (14 − 9)/25 + 14/4 = 3.7 A

Answer

Is = 3.7 A
5.Mesh analysis

Answer: VR1 = 6.923 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​ = 12 ΩR2​ = 3 Ω+−V1​30 VR3​8 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
12·I1 + 8(I1 − I2) = 30
20·I1 − 8·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
3·I2 + 8(I2 − I1) = (−30)
−8·I1 + 11·I2 = −30

Solve

Δ = (20)(11) − (−8)(−8) = 156
I1 = Δ1/Δ = 90/156 = 0.5769 A
I2 = Δ2/Δ = −360/156 = −2.308 A

Answer

IR1 = I1 = 0.5769 A
VR1 = IR1·R1 = 0.5769·12 = 6.923 V

A negative mesh current flows anticlockwise.

6.Mesh analysis

Answer: IR4 = 0.7392 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​ = 5 ΩR2​ = 20 ΩR3​ = 3 Ω+−V1​12 VR4​10 ΩAR5​4 ΩB+−V2​6 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
5·I1 + 10(I1 − I2) = 12
15·I1 − 10·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
20·I2 + 10(I2 − I1) + 4(I2 − I3) = 0
−10·I1 + 34·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
3·I3 + 4(I3 − I2) = (−6)
−4·I2 + 7·I3 = −6

Solve

Δ = det of the coefficient matrix = 2630
I1 = Δ1/Δ = 2424/2630 = 0.9217 A
I2 = Δ2/Δ = 480/2630 = 0.1825 A
I3 = Δ3/Δ = −1980/2630 = −0.7529 A

Answer

IR4 = I1 − I2 = 0.7392 A

A negative mesh current flows anticlockwise.

7.Superposition

Answer: Is = 0.6 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​ = 5 ΩR3​ = 8 Ω+−V1​6 VR2​20 ΩAR4​8 ΩBOPEN

Case 1 · V1 acting alone

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

R3+R4 = 8+8 = 16 Ω
R2 ∥ (R3+R4) = 20·16/(20+16) = 8.889 Ω
VA = 6·8.889/(5+8.889) = 3.84 V
VB = VA·R4/(R3+R4) = 3.84·8/16 = 1.92 V
IR3′ = (VA − VB)/R3 = (3.84 − 1.92)/8 = 0.24 A

Case 2 · Is acting alone

V₁ becomes a short, so R₁ ∥ R₂ hangs from A to ground. Iₛ splits at B between R₄ and the path R₃ + R₁∥R₂; the part through R₃ flows from B to A, against the arrow.

R1 ∥ R2 = 4 Ω
IR3″ = −Is·R4/(R4 + R3 + R1∥R2) = −Is·8/20 = −0.4·Is

Set the total to zero

IR3′ + IR3″ = 0.24 − 0.4·Is = 0
Is = 0.24/0.4 = 0.6 A

Answer

Is = 0.6 A
8.Superposition

Answer: PR4 = 27.04 W

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

R1​ = 3 ΩR2​ = 20 ΩR4​ = 6 Ω+−V1​6 VR3​15 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) = 15 ∥ 26 = 9.512 Ω
VA = 6·9.512/(3+9.512) = 4.561 V
VB = VA·R4/(R2+R4) = 4.561·6/26 = 1.053 V
IR4′ = (VB − V2)/R4 = (1.053 − 0)/6 = 0.1754 A
R1​ = 3 ΩR2​ = 20 ΩR4​ = 6 ΩSHORTR3​15 ΩAIs​3 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 = 2.5 Ω, so the left path is R2+2.5 = 22.5 Ω
Req = R4 ∥ 22.5 = 4.737 Ω
VB = Is·Req = 3·4.737 = 14.21 V
VA = VB·2.5/22.5 = 1.579 V
IR4″ = (VB − V2)/R4 = (14.21 − 0)/6 = 2.368 A
R1​ = 3 ΩR2​ = 20 ΩR4​ = 6 ΩSHORTR3​15 ΩAOPENB+−V2​12 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 = 3·15/(3+15) = 2.5 Ω
VB = V2·(R2+R1∥R3)/(R4+R2+R1∥R3) = 12·22.5/28.5 = 9.474 V
VA = VB·(R1∥R3)/(R2+R1∥R3) = 9.474·2.5/22.5 = 1.053 V
IR4‴ = (VB − V2)/R4 = (9.474 − 12)/6 = −0.4211 A

Add the current contributions

IR4 = IR4′ + IR4″ + IR4‴ = 0.1754 + 2.368 + (−0.4211) = 2.123 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.

PR4 = IR4²·R4 = 2.123²·6 = 27.04 W

Answer

PR4 = 27.04 W

Adding the powers of the separate cases would give 34.9 W, which is wrong.

9.Thévenin & Norton

Answer: IL = 0.4372 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​8 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 = 5·8/(5+8) = 3.077 Ω
Rth = (R1 ∥ R2) + R3 = 3.077 + 5 = 8.077 Ω
R1​ = 5 ΩR3​ = 5 Ω+−V1​10 VR2​8 ΩAab+−Vth​

Find Vth, the open-circuit voltage

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

Vth = V1·R2/(R1+R2) = 10·8/(5+8) = 6.154 V
Rth​ = 8.077 Ω+−Vth​6.154 VRL​6 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) = 6.154/(8.077 + 6) = 0.4372 A
10.Thévenin & Norton

Answer: IL = 0.3128 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​ = 20 ΩR3​ = 2 ΩSHORTR2​3 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 = 20·3/(20+3) = 2.609 Ω
Rth = (R1 ∥ R2) + R3 = 2.609 + 2 = 4.609 Ω
R1​ = 20 ΩR3​ = 2 Ω+−V1​18 VR2​3 ΩAIs​1.5 ABab+−Vth​

Find Vth, the open-circuit voltage

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

VA = V1·R2/(R1+R2) + Is·(R1∥R2) = 2.348 + 1.5·2.609 = 6.261 V
Vth = VB = VA + Is·R3 = 6.261 + 1.5·2 = 9.261 V
Rth​ = 4.609 Ω+−Vth​9.261 VRL​25 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) = 9.261/(4.609 + 25) = 0.3128 A
11.RC & RL transients

Answer: vL = 1.06 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 = 68 mH / 33 Ω = 2.061 ms
i(∞) = Vs/R = 12/33 = 0.3636 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 = 12·e−5/2.061 = 1.06 V

Answer

vL = 1.06 V
12.RC & RL transients

Answer: R = 0.6139 kΩ

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.

Required time constant

7.5 = 15·(1 − e−20/τ) → τ = 20/ln(15/(15 − 7.5))
τ = 20/0.6931 = 28.85 ms

Resistance

kΩ times µF gives milliseconds.

R = τ/C = 28.85/47 = 0.6139 kΩ

Answer

R = 0.6139 kΩ
13.AC impedance & phasors

Answer: L = 0.04606 mH

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 condition

At resonance the inductive and capacitive reactances cancel: ωL = 1/(ωC).

ω₀ = 2π·5000 = 31416 rad/s
L = 1/(ω₀²·C) = 1/(31416²·22·10⁻⁶) = 0.04606 mH

Answer

L = 0.04606 mH
14.AC impedance & phasors

Answer: VL = 476.7 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/√(0.2·0.22·10⁻⁶) = 4767 rad/s
I = V/R = 10/20 = 0.5 A

Voltage across the inductor

XL = ω₀L = 4767·0.2 = 953.5 Ω
VL = I·XL = 0.5·953.5 = 476.7 V

Answer

VL = 476.7 V

This is Q = 47.67 times the supply voltage.

15.AC power & power factor

Answer: I = 166.7 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.

Line current

Only the real part of the power does work, so divide by the power factor.

I = P/(V·cos φ) = 32000/(240·0.8) = 166.7 A

Answer

I = 166.7 A
16.AC power & power factor

Answer: QC = 21.01 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 = 25·tan(49.46°) = 29.23 kvar
Q2 = P·tan φ2 = 25·tan(18.19°) = 8.217 kvar
QC = Q1 − Q2 = 21.01 kvar

Answer

QC = 21.01 kvar
17.Three-phase power

Answer: P = 24.94 kW

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

Apparent power

S = √3·VL·IL = √3·400·40 = 27.71 kVA

Real power

P = S·cos φ = 27.71·0.9 = 24.94 kW

Answer

P = 24.94 kW
18.Three-phase power

Answer: Cph = 748.6 µF

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

Reactive power before and after

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

Q1 = 100·tan(acos 0.78) = 100·0.8023 = 80.23 kvar
Q2 = 100·tan(acos 0.92) = 100·0.426 = 42.6 kvar

Reactive power from the capacitors

QC = Q1 − Q2 = 37.63 kvar

Capacitance per phase

In a Y bank each capacitor is connected between a line and the star point.

V = 400/√3 = 230.9 V, ω = 2π·50 = 314.2 rad/s
Cph = (QC/3)/(ω·V²) = 12543/(314.2·230.9²) = 748.6 µF

Answer

Cph = 748.6 µF
19.Transformers

Answer: I1 = 4 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 = 240/2 = 120 V
I2 = 120/15 = 8 A

Primary current

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

I1 = I2/2 = 4 A

Answer

I1 = 4 A

Check: the load seen from the primary is a²·RL = 60 Ω, and 240/60 gives the same current.

20.Transformers

Answer: Ploss = 356.3 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 = 0.0625·900 = 56.25 W

Total losses

The core loss is the same at any load.

Ploss = 300 + 56.25 = 356.3 W

Answer

Ploss = 356.3 W

The efficiency at this load is η = 98.52%.

21.Op-amp circuits

Answer: Vout = 2.341 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) = 2.5·2/(4.7 + 2) = 0.7463 V

Non-inverting gain

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

Vout = V₊·(1 + Rf/R1) = 0.7463·(1 + 47/22) = 2.341 V

Answer

Vout = 2.341 V
22.Op-amp circuits

Answer: Vout = 6.557 V

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

Input currents

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

I1 = V1/R1 = −0.6/22 = −0.02727 mA
I2 = V2/R2 = −1.8/47 = −0.0383 mA
If = I1 + I2 = −0.06557 mA

Output voltage

Vout = −Rf·If = −100·(−0.06557) = 6.557 V

Answer

Vout = 6.557 V
23.Diodes & transistors

Answer: R = 180 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 = 9 − 3·2.1 = 2.7 V

Resistance

R = 2.7/0.015 = 180 Ω

Answer

R = 180 Ω

The resistor dissipates 40.5 mW.

24.Diodes & transistors

Answer: RB = 0.477 kΩ

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

Collector current in saturation

IC(sat) = (24 − 0.2)/330 = 72.12 mA

Minimum base current

IB(min) = IC(sat)/β = 72.12/80 = 901.5 µA

Design base current

IB = 10·901.5 µA = 9015 µA

Base resistor

RB = (5 − 0.7)/IB = 4.3 V/9.015 mA = 0.477 kΩ

Answer

RB = 0.477 kΩ
25.Number systems

Answer: U = 142

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

Invert and add one

114 = 0111 0010
inverted: 1000 1101
+1 → 1000 1110

Read it as unsigned

1000 1110₂ = 256 − 114 = 142

Answer

U = 142
26.Number systems

Answer: M = 512 KiB

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

Bits and bytes

512·512·16 = 4194304 bit = 524288 B

Convert to KiB

524288/1024 = 512 KiB

Answer

M = 512 KiB
27.Digital logic: gates, K-maps & flip-flops

Answer: N = 5

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.

ABCD000111100001111010011302140517161120131150141819011110

Group the 0s

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

(B′ + C + D′)
(A + C + D′)
(A + B + C′ + D)
(A′ + B + C′ + D′)
(A′ + B′ + C′ + D)

Minimal POS form

F = (B′ + C + D′)(A + C + D′)(A + B + C′ + D)(A′ + B + C′ + D′)(A′ + B′ + C′ + D)
N = 5

Answer

N = 5
28.Digital logic: gates, K-maps & flip-flops

Answer: N = 4

Flip-flops and counters: a flip-flop changes only at the active clock edge. D copies its input (Q⁺ = D); T toggles when T = 1; JK holds for 00, resets for 01, sets for 10 and toggles for 11. An n-bit binary counter has 2ⁿ states and counts modulo 2ⁿ; a mod-N counter goes 0, 1, …, N − 1 and back to 0, and needs the smallest n with 2ⁿ ≥ N flip-flops. Each stage of a ripple counter halves the frequency, so the last output of a mod-N counter runs at fclk/N. A Johnson counter of n flip-flops has 2n states, a ring counter n.

Q after every edge

A D flip-flop copies D at each rising edge: Q⁺ = D.

1: D = 1 → Q = 1
2: D = 0 → Q = 0
3: D = 1 → Q = 1
4: D = 1 → Q = 1
5: D = 0 → Q = 0
6: D = 0 → Q = 0

Count the changes

0 → 1 → 0 → 1 → 1 → 0 → 0
N = 4

Answer

N = 4
29.Laplace transforms

Answer: A = 12.5

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 + 8s + 15 = (s + 3)(s + 5)
F(s) = A/(s + 3) + B/(s + 5)

Cover-up rule

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

A = (2s + 31)/(s + 5) |s = −3 = 25/2 = 12.5

Answer

A = 12.5
(B = −10.5, so f(t) = 12.5·e−3t − 10.5·e−5t)
30.Laplace transforms

Answer: y(0.3) = 5.282

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) = 270/(s(s + 3)(s + 6))

Partial fractions

A = 270/(3·6) = 15
B = 270/((−3)·3) = −30
C = 270/((−6)·(−3)) = 15

Output

y(t) = 15 − 30·e−3t + 15·e−6t
y(0.3) = 5.282

Answer

y(0.3) = 5.282
31.Block diagrams

Answer: css = 10.4

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) = 13/(s + 6 + 6.5) = 13/(s + 12.5)

Result

css = R·T(0) = 10·13/12.5 = 10.4

Answer

css = 10.4
32.Block diagrams

Answer: Kmax = 12

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).

Characteristic equation

s³ + 4s² + 3s + K = 0

Routh array

s³ | 1 3
s² | 4 K
s¹ | (4·3 − K)/4
s⁰ | K

Stability limit

All entries of the first column must be positive.

Kmax = 4·3 = 12

Answer

Kmax = 12
33.Step response

Answer: tp = 0.3702 s

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

Compare with the standard form

The denominator must match s² + 2ζωₙs + ωₙ².

ωₙ² = 97 → ωₙ = 9.849 rad/s
2ζωₙ = 10 → ζ = 10/(2·9.849) = 0.5077

Result

ωd = 9.849·√(1 − 0.5077²) = 8.485 rad/s → tp = π/ωd = 0.3702 s

Answer

tp = 0.3702 s
34.Step response

Answer: ωn = 447.2 rad/s

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

Natural frequency and damping ratio

ωₙ = 1/√(LC) = 1/√(0.05·1 × 10⁻⁴) = 447.2 rad/s
ζ = (R/2)·√(C/L) = (13/2)·√(1 × 10⁻⁴/0.05) = 0.2907

Result

ωₙ = 447.2 rad/s

Answer

ωn = 447.2 rad/s
35.Bode plots & margins

Answer: φ = 78.61 °

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

Corner frequency

ωc = 1/(RC) = 1/(2200·4.7 × 10⁻⁸) = 9671 rad/s
fc = 1539 Hz → f/fc = 310/1539 = 0.2014

Phase

φ = 90° − atan(0.2014) = 78.61°

Answer

φ = 78.61°
36.Bode plots & margins

Answer: ω180 = 7.937 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.

Phase crossover

(ω/7)·(ω/9) = 1 → ω180 = √(7·9) = 7.937 rad/s

Answer

ω180 = 7.937 rad/s
37.Stability: Routh–Hurwitz & root locus

Answer: m = 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.

Routh array

s³ + 8s² + 12s + K = 0
s³: 1, 12
s²: 8, K
s¹: (8·12 − K)/8
s⁰: K

Largest stable gain

Kmax = 8·12 = 96

Factor

m = 96/48 = 2

Answer

m = 2

This factor is the gain margin as a ratio: 6.021 dB.

38.Stability: Routh–Hurwitz & root locus

Answer: θd = −26.57 °

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

Pole locations

s² + 8s + 32 = 0 → s = −4 ± j4
s = −2

Angles from the other poles

∠(−4 + j4 + 2) = atan2(4, -2) = 116.6°
∠(−4 + j4 − (−4 − j4)) = ∠(j8) = 90°

Angle of departure

θd = 180° − 116.6° − 90° = −26.57°

Answer

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

Answer: K = 200

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

Required velocity constant

Kv = A/ess = 5/0.1 = 50

Gain

K = 4·Kv = 200

Answer

K = 200

A large gain makes this loop very lightly damped: ζ = 0.1414. That conflict is why compensators are used.

40.Steady-state error & PID control

Answer: Kd = 1 s

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

Characteristic polynomial

s(s + 2) + 2(8 + Kds) = s² + (2 + 2Kd)s + 16

Natural frequency

ωₙ = √16 = 4 rad/s

Derivative gain

2 + 2Kd = 2·0.5·4 = 4
Kd = 1 s

Answer

Kd = 1 s

The derivative term adds damping without changing ωₙ.

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