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​ = 20 ΩIR1​R3​ = 5 Ω+−V1​6 VR2​3 ΩAR4​8 ΩB

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

V1 = 6 VR1 = 20 ΩR2 = 3 ΩR3 = 5 ΩR4 = 8 Ω
IR1 = A
2.Series & parallel resistorsHard
R1​ = 8 ΩR3​ = 2 ΩR5​ = 6 Ω+−V1​12 VR2​30 ΩAR4​5 ΩBR6​8 Ω

Find the equivalent resistance Req seen by the source V1.

V1 = 12 VR1 = 8 ΩR2 = 30 ΩR3 = 2 ΩR4 = 5 ΩR5 = 6 ΩR6 = 8 Ω
Req = Ω
3.Nodal analysisMedium
R1​ = 6 ΩR3​ = 6 ΩIR3​+−V1​10 VR2​3 ΩAR4​2 ΩBIs​3 A

Use nodal analysis to find the current IR3 through R3 in the direction of the arrow.

V1 = 10 VIs = 3 AR1 = 6 ΩR2 = 3 ΩR3 = 6 ΩR4 = 2 Ω
IR3 = A
4.Nodal analysisHard
R1​ = 20 ΩR3​ = 3 Ω+−V1​24 VR2​2 ΩAR4​12 ΩBIs​?

The current source is adjusted until the node voltage at A is VA = 9.5 V. Use nodal analysis to find the source current Is (direction as shown).

V1 = 24 VR1 = 20 ΩR2 = 2 ΩR3 = 3 ΩR4 = 12 ΩVA = 9.5 V
Is = A
5.Mesh analysisMedium
R1​ = 2 ΩR2​ = 5 Ω+−V1​24 VR3​4 ΩA+−V2​18 VI1​I2​

Use mesh analysis to find the mesh current I2 (clockwise).

V1 = 24 VV2 = 18 VR1 = 2 ΩR2 = 5 ΩR3 = 4 Ω
I2 = A
6.Mesh analysisHard
R1​ = 25 ΩR2​ = 8 ΩR3​ = 20 Ω+−V1​24 VR4​20 ΩIR4​AR5​5 ΩB+−V2​10 VI1​I2​I3​

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

V1 = 24 VV2 = 10 VR1 = 25 ΩR2 = 8 ΩR3 = 20 ΩR4 = 20 ΩR5 = 5 Ω
IR4 = A
7.SuperpositionMedium
R1​ = 5 ΩR3​ = 5 ΩIR3​+−V1​24 VR2​2 ΩAR4​4 ΩBIs​?

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

V1 = 24 VR1 = 5 ΩR2 = 2 ΩR3 = 5 ΩR4 = 4 Ω
Is = A
8.SuperpositionHard
R1​ = 2 ΩIR1​R2​ = 10 ΩR4​ = 15 Ω+−V1​6 VR3​2 ΩAIs​1 AB+−V2​9 V

Use superposition to find the power PR1 absorbed by R1.

V1 = 6 VIs = 1 AV2 = 9 VR1 = 2 ΩR2 = 10 ΩR3 = 2 ΩR4 = 15 Ω
PR1 = W
9.Thévenin & NortonMedium
R1​ = 5 ΩR3​ = 2 Ω+−V1​6 VR2​10 ΩAab

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

V1 = 6 VR1 = 5 ΩR2 = 10 ΩR3 = 2 Ω
Vth = V
10.Thévenin & NortonHard
R1​ = 3 ΩR3​ = 20 Ω+−V1​9 VR2​2 ΩAIs​2.5 ABab

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

V1 = 9 VIs = 2.5 AR1 = 3 ΩR2 = 2 ΩR3 = 20 Ω
IN = A
11.RC & RL transientsMedium
+−Vs​10 Vt = 0R1​ = 4.7 kΩR2​ = 10 kΩC47 µF+−vC​

The source Vₛ charges the capacitor through R₁, and R₂ is connected in parallel with C. The capacitor is uncharged when the switch closes at t = 0. Find the time constant τ of the circuit after the switch closes.

Vs = 10 VR1 = 4.7 kΩR2 = 10 kΩC = 47 µF
τ = ms
12.RC & RL transientsHard
+−Vs​24 Vt = 0R = 1 kΩC100 µF+−vC​vC​(0) = 2 V

Just before the switch closes at t = 0, the capacitor holds 2 V with the polarity shown. Find the capacitor voltage vC at t = 30 ms.

Vs = 24 VR = 1 kΩC = 100 µFvC(0) = 2 Vt = 30 ms
vC = V
13.AC impedance & phasorsMedium
24 V60 HzR = 60 ΩL = 100 mHC = 100 µF

A series RLC circuit is connected to a 24 V (rms), 60 Hz supply. Find the phase angle φ of the impedance, in degrees (positive when the current lags the voltage).

V = 24 V (rms)f = 60 HzR = 60 ΩL = 100 mHC = 100 µF
φ = °
14.AC impedance & phasorsHard
VfR = 50 ΩL = 50 mHC = 0.1 µF

A series RLC circuit has R = 50 Ω, L = 50 mH and C = 0.1 µF. Find its bandwidth B (the width of the band between the half-power frequencies), in Hz.

R = 50 ΩL = 50 mHC = 0.1 µF
B = Hz
15.AC power & power factorMedium
P = 16 kWQ = ?Sφ

A single-phase motor takes 16 kW at a power factor of 0.65 lagging from a 400 V supply. Find the reactive power Q it draws.

P = 16 kWpf = 0.65V = 400 V
Q = kvar
16.AC power & power factorHard
P = 10 kWQ1​S1​φ1​QC​

A single-phase load takes 10 kW at a power factor of 0.8 lagging from a 400 V, 50 Hz supply. A capacitor connected in parallel raises the power factor to 0.98. Find the reactive power QC the capacitor must supply.

P = 10 kWpf1 = 0.8pf2 = 0.98V = 400 Vf = 50 Hz
QC = kvar
17.Three-phase powerMedium
ABCVL​ = 690 VIL​ = ?M11 kW, η = 93%cos φ = 0.9

A three-phase induction motor delivers 11 kW of mechanical output power at full load. At this load its efficiency is 93% and its power factor is 0.9 lagging. The supply has a line-to-line voltage of 690 V. Find the line current IL.

Pout = 11 kWη = 93%cos φ = 0.9VL = 690 V
IL = A
18.Three-phase powerHard
P = 250 kWφ1​S1​Q2​QC​

A balanced three-phase load takes 250 kW at a power factor of 0.65 lagging from a 400 V (line-to-line), 60 Hz supply. A three-phase capacitor bank in parallel with the load must raise the overall power factor to 0.92 lagging. The real power stays the same. The capacitors are connected in Δ. Find the capacitance Cph of each capacitor in µF.

P = 250 kWpf1 = 0.65pf2 = 0.92VL = 400 Vf = 60 Hz
Cph = µF
19.TransformersMedium
2 ΩN1​N2​32 Ω

An amplifier with an output resistance of 32 Ω drives a 2 Ω loudspeaker through an ideal transformer. For maximum power transfer the loudspeaker must look like 32 Ω from the amplifier. Find the turns ratio a = N₁/N₂.

Rs = 32 ΩRL = 2 Ω
a =
20.TransformersHard
75 kVA

A single-phase 75 kVA transformer has a core loss of 375 W and a copper loss of 562.5 W at rated load. At what load Sη,max, in kVA, is its efficiency highest?

S = 75 kVAPcore = 375 WPcu,fl = 562.5 W
Sη,max = kVA
21.Op-amp circuitsMedium
−+Vout​Rf​ = ?R1​ = 10 kΩVin​

Choose the feedback resistor Rf that gives this non-inverting amplifier a voltage gain of 6.

R1 = 10 kΩAv = 6
Rf = kΩ
22.Op-amp circuitsHard
−+Vout​C = 0.1 µFVin​ = 2.1 VR = 22 kΩ

The integrator uses an ideal op-amp with ±15 V supplies; its output saturates at ±14 V. The capacitor is uncharged when a constant input Vin = 2.1 V is applied at t = 0. Find the output voltage Vout at t = 2 ms.

Vin = 2.1 VR = 22 kΩC = 0.1 µFVsat = ±14 Vt = 2 ms
Vout = V
23.Diodes & transistorsMedium
RC​ = 2.7 kΩβ = 120RE​ = 1 kΩVCC​ = 20 VR1​ = 100 kΩR2​ = 12 kΩ

An NPN transistor with β = 120 has voltage-divider bias from VCC = 20 V: R₁ = 100 kΩ from VCC to the base and R₂ = 12 kΩ from the base to ground. The collector resistor is RC = 2.7 kΩ and the emitter resistor is RE = 1 kΩ. Take VBE = 0.7 V and use the Thévenin equivalent of the divider (do not neglect the base current). Find the collector–emitter voltage VCE.

VCC = 20 VR1 = 100 kΩR2 = 12 kΩRC = 2.7 kΩRE = 1 kΩβ = 120
VCE = V
24.Diodes & transistorsHard
RC​ = 470 Ωβ = 150IC​ = ?VCC​ = 12 V5 VRB​ = 33 kΩ

An NPN transistor with β = 150 switches a 470 Ω load resistor connected between VCC = 12 V and its collector. The emitter is grounded. The base is driven from a 5 V logic output through a base resistor RB = 33 kΩ. Take VBE = 0.7 V and VCE(sat) = 0.2 V. Find the collector current IC in mA when the input is high. Decide first whether the transistor is saturated.

VCC = 12 VRC = 470 Ωβ = 150Vin = 5 VVBE = 0.7 VVCE(sat) = 0.2 VRB = 33 kΩ
IC = mA
25.Number systemsMedium
8-bit two's complement0−12806403201608040201

Set the bits so they store −74 in 8-bit two's complement. Read as an unsigned number, what is the pattern's value U?

N = −748 bit
U =
26.Number systemsHard
click the bits to set them012806403201608040201

Set the bits to the 8-bit result of 1101 1001 << 2. What is the result's value R in decimal?

1101 1001<< 2
R =
27.Digital logic: gates, K-maps & flip-flopsMedium
ABCD000111100001111000010302140517160120130151140819111110

Use the Karnaugh map to find the minimal product-of-sums (POS) form of F(A, B, C, D) = Σm(4, 6, 7, 9, 10, 11, 14). How many sum terms (factors) N does it have?

F(A, B, C, D) = Σm(4, 6, 7, 9, 10, 11, 14)
N =
28.Digital logic: gates, K-maps & flip-flopsHard
ABCD00011110000111100011030214150706X121130151141809X11010

Find the minimal SOP form of F(A, B, C, D) = Σm(1, 4, 5, 8, 13, 14) + d(11, 12), where d marks the don't-care conditions. How many product terms N does it have?

F(A, B, C, D) = Σm(1, 4, 5, 8, 13, 14) + d(11, 12)
N =
29.Laplace transformsMedium
ReIm−1−2−3−4−51

F(s) = (5s + 8)/(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) = (5s + 8)/(s² + 8s + 15)
A =
30.Laplace transformsHard
ReIm−5−10−15

A system is described by the differential equation y″ + 4y′ + 8y = u′ + 17u, with input u(t) and output y(t). Find its transfer function G(s) = Y(s)/U(s) (zero initial conditions) and evaluate the impulse response g(t) at t = 0.1 s. Find g(0.1).

y″ + 4y′ + 8y = u′ + 17ut = 0.1 s
g(0.1) =
31.Block diagramsMedium
R(s)+3s + 6G(s)C(s)2H−

A plant G(s) = 3/(s + 6) is controlled in a negative feedback loop whose sensor has the gain H = 2. Find the time constant τ of the closed loop.

G(s) = 3/(s + 6)H = 2
τ = s
32.Block diagramsHard
R(s)+Ks(s + 8)(s + 9)G(s)C(s)−

The plant G(s) = K/(s(s + 8)(s + 9)) 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 + 8)(s + 9))unity negative feedback
Kmax =
33.Step responseMedium
t (s)y(t)3?

A system has the transfer function G(s) = 153/(s² + 10s + 51) and receives a unit step input. Find the percent overshoot %OS of the step response.

G(s) = 153/(s² + 10s + 51)
%OS = %
34.Step responseHard
t (s)y(t)12 %

A second-order system without zeros must have a step response with 2 % overshoot. Find the damping ratio ζ.

%OS = 2 %
ζ =
35.Bode plots & marginsMedium
vin​L = 4.7 mHR = 220 Ωvout​

The RL low-pass filter shown has R = 220 Ω, L = 4.7 mH. A sinusoidal input of 22 kHz is applied. Find the gain |H| = |vout/vin| in dB.

R = 220 ΩL = 4.7 mHf = 22 kHz
|H| = dB
36.Bode plots & marginsHard
|H| (dB)0.10.1111010100100−60−40−2002040ω (rad/s)φ (°)ω (rad/s)−180−135−90−450ωc​ = ?

A unity-feedback loop has the open-loop transfer function L(s) = 100/(s(s + 10)). Find the gain crossover frequency ωc, where |L(jω)| = 1.

L(s) = 100/(s(s + 10))
ωc = rad/s
37.Stability: Routh–Hurwitz & root locusMedium
R(s)+K1s(s + 4)(s + 5)C(s)−

The loop in the diagram has the open-loop transfer function L(s) = K/(s(s + 4)(s + 5)). The gain is raised until the closed loop is on the edge of stability. Find the frequency ω of the sustained oscillation.

L(s) = K/(s(s + 4)(s + 5))
ω = rad/s
38.Stability: Routh–Hurwitz & root locusHard
ReIm−2−4−6−8−10−12j2

A unity-feedback loop has L(s) = K(s + 10)/(s(s + 3)(s + 6)). Find the point σa where the asymptotes of the root locus cross the real axis.

L(s) = K(s + 10)/(s(s + 3)(s + 6))
σa =
39.Steady-state error & PID controlMedium
R(s)+K(s + 4)(s + 5)C(s)−

A unity-feedback loop has G(s) = K/((s + 4)(s + 5)). Find the gain K that gives a steady-state error of 10 % for a step input.

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

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

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

3Solutions

1.Series & parallel resistors

Answer: IR1 = 0.2674 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​ = 20 ΩR3​ = 5 Ω+−V1​6 VR2​3 ΩAR4​8 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 = 5 + 8 = 13 Ω
R2 ∥ 13 = 3·13/(3+13) = 2.438 Ω
Req = R1 + 2.438 = 20 + 2.438 = 22.44 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 = 6/22.44 = 0.2674 A

Answer

IR1 = 0.2674 A
2.Series & parallel resistors

Answer: Req = 12.78 Ω

Series and parallel resistors: in series the same current flows through each resistor and R = R₁ + R₂ + …. In parallel each resistor has the same voltage and 1/R = 1/R₁ + 1/R₂ + …. A ladder network is reduced one pair at a time until a single equivalent resistance remains.

R1​ = 8 ΩR3​ = 2 ΩR5​ = 6 Ω+−V1​12 VR2​30 ΩAR4​5 ΩBR6​8 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 = 6 + 8 = 14 Ω
R4 ∥ 14 = 3.684 Ω
R3 + 3.684 = 5.684 Ω
R2 ∥ 5.684 = 4.779 Ω
Req = R1 + 4.779 = 8 + 4.779 = 12.78 Ω

Answer

Req = 12.78 Ω
3.Nodal analysis

Answer: IR3 = 0.9333 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​ = 6 ΩR3​ = 6 Ω+−V1​10 VR2​3 ΩAR4​2 ΩBIs​3 A

Set up the nodes

Ground is the bottom wire. Known node voltages come straight from the sources (V1 = 10 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/3 + (VA − 10)/6 + (VA − VB)/6 = 0
0.6667·VA − 0.1667·VB = 1.667

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/2 + (VB − VA)/6 = (−3)
−0.1667·VA + 0.6667·VB = −3

Solve

Δ = (0.6667)(0.6667) − (−0.1667)(−0.1667) = 0.4167
VA = Δ1/Δ = 0.6111/0.4167 = 1.467 V
VB = Δ2/Δ = −1.722/0.4167 = −4.133 V

Answer

IR3 = (VA − VB)/R3 = (1.467 − −4.133)/6 = 0.9333 A
4.Nodal analysis

Answer: Is = 5.823 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
(9.5 − 24)/20 + 9.5/2 = (VB − 9.5)/3
4.025 = (VB − 9.5)/3 → VB = 21.58 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 = (21.58 − 9.5)/3 + 21.58/12 = 5.823 A

Answer

Is = 5.823 A
5.Mesh analysis

Answer: I2 = −0.3158 A

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

R1​ = 2 ΩR2​ = 5 Ω+−V1​24 VR3​4 ΩA+−V2​18 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
2·I1 + 4(I1 − I2) = 24
6·I1 − 4·I2 = 24

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
5·I2 + 4(I2 − I1) = (−18)
−4·I1 + 9·I2 = −18

Solve

Δ = (6)(9) − (−4)(−4) = 38
I1 = Δ1/Δ = 144/38 = 3.789 A
I2 = Δ2/Δ = −12/38 = −0.3158 A

Answer

I2 = −0.3158 A

A negative mesh current flows anticlockwise.

6.Mesh analysis

Answer: IR4 = 0.325 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​ = 25 ΩR2​ = 8 ΩR3​ = 20 Ω+−V1​24 VR4​20 ΩAR5​5 ΩB+−V2​10 VI1​I2​I3​

Assign mesh currents

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

KVL around mesh 1

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

R1·I1 + R4(I1 − I2) = V1
25·I1 + 20(I1 − I2) = 24
45·I1 − 20·I2 = 24

KVL around mesh 2

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

R2·I2 + R4(I2 − I1) + R5(I2 − I3) = 0
8·I2 + 20(I2 − I1) + 5(I2 − I3) = 0
−20·I1 + 33·I2 − 5·I3 = 0

KVL around mesh 3

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

R3·I3 + R5(I3 − I2) = −V2
20·I3 + 5(I3 − I2) = (−10)
−5·I2 + 25·I3 = −10

Solve

Δ = det of the coefficient matrix = 26000
I1 = Δ1/Δ = 18200/26000 = 0.7 A
I2 = Δ2/Δ = 9750/26000 = 0.375 A
I3 = Δ3/Δ = −8450/26000 = −0.325 A

Answer

IR4 = I1 − I2 = 0.325 A

A negative mesh current flows anticlockwise.

7.Superposition

Answer: Is = 1.714 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​ = 5 Ω+−V1​24 VR2​2 ΩAR4​4 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 = 5+4 = 9 Ω
R2 ∥ (R3+R4) = 2·9/(2+9) = 1.636 Ω
VA = 24·1.636/(5+1.636) = 5.918 V
VB = VA·R4/(R3+R4) = 5.918·4/9 = 2.63 V
IR3′ = (VA − VB)/R3 = (5.918 − 2.63)/5 = 0.6575 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 = 1.429 Ω
IR3″ = −Is·R4/(R4 + R3 + R1∥R2) = −Is·4/10.43 = −0.3836·Is

Set the total to zero

IR3′ + IR3″ = 0.6575 − 0.3836·Is = 0
Is = 0.6575/0.3836 = 1.714 A

Answer

Is = 1.714 A
8.Superposition

Answer: PR1 = 2.403 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​ = 2 ΩR2​ = 10 ΩR4​ = 15 Ω+−V1​6 VR3​2 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) = 2 ∥ 25 = 1.852 Ω
VA = 6·1.852/(2+1.852) = 2.885 V
VB = VA·R4/(R2+R4) = 2.885·15/25 = 1.731 V
IR1′ = (V1 − VA)/R1 = (6 − 2.885)/2 = 1.558 A
R1​ = 2 ΩR2​ = 10 ΩR4​ = 15 ΩSHORTR3​2 ΩAIs​1 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 = 1 Ω, so the left path is R2+1 = 11 Ω
Req = R4 ∥ 11 = 6.346 Ω
VB = Is·Req = 1·6.346 = 6.346 V
VA = VB·1/11 = 0.5769 V
IR1″ = (V1 − VA)/R1 = (0 − 0.5769)/2 = −0.2885 A
R1​ = 2 ΩR2​ = 10 ΩR4​ = 15 ΩSHORTR3​2 ΩAOPENB+−V2​9 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 = 2·2/(2+2) = 1 Ω
VB = V2·(R2+R1∥R3)/(R4+R2+R1∥R3) = 9·11/26 = 3.808 V
VA = VB·(R1∥R3)/(R2+R1∥R3) = 3.808·1/11 = 0.3462 V
IR1‴ = (V1 − VA)/R1 = (0 − 0.3462)/2 = −0.1731 A

Add the current contributions

IR1 = IR1′ + IR1″ + IR1‴ = 1.558 + (−0.2885) + (−0.1731) = 1.096 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.

PR1 = IR1²·R1 = 1.096²·2 = 2.403 W

Answer

PR1 = 2.403 W

Adding the powers of the separate cases would give 5.079 W, which is wrong.

9.Thévenin & Norton

Answer: Vth = 4 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​ = 5 ΩR3​ = 2 ΩSHORTR2​10 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 = 5·10/(5+10) = 3.333 Ω
Rth = (R1 ∥ R2) + R3 = 3.333 + 2 = 5.333 Ω
R1​ = 5 ΩR3​ = 2 Ω+−V1​6 VR2​10 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) = 6·10/(5+10) = 4 V
10.Thévenin & Norton

Answer: IN = 2.67 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​ = 3 ΩR3​ = 20 ΩSHORTR2​2 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 = 3·2/(3+2) = 1.2 Ω
Rth = (R1 ∥ R2) + R3 = 1.2 + 20 = 21.2 Ω
R1​ = 3 ΩR3​ = 20 Ω+−V1​9 VR2​2 ΩAIs​2.5 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) = 3.6 + 2.5·1.2 = 6.6 V
Vth = VB = VA + Is·R3 = 6.6 + 2.5·20 = 56.6 V
IN​2.67 ARth​21.2 Ωab

Norton equivalent

A Norton source is the same circuit seen as a current source in parallel with R_th. Its current is the short-circuit current at a–b.

IN = Vth/Rth = 56.6/21.2 = 2.67 A
11.RC & RL transients

Answer: τ = 150.3 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.

Thévenin equivalent seen by the capacitor

Short the source to find Rth; open the capacitor to find the voltage it will settle at.

Rth = R1 ∥ R2 = 4.7·10/(4.7 + 10) = 3.197 kΩ
vC(∞) = 10·10/(4.7 + 10) = 6.803 V

Time constant

τ = Rth·C = 3.197·47 = 150.3 ms

Answer

τ = 150.3 ms
12.RC & RL transients

Answer: vC = 7.702 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.

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) = 2 V, vC(∞) = Vs = 24 V
τ = R·C = 1 kΩ · 100 µF = 100 ms
vC(t) = 24 + (2 − 24)·e−t/τ

Voltage at the given time

vC(30) = 24 + (−22)·e−30/100 = 7.702 V

Answer

vC = 7.702 V
13.AC impedance & phasors

Answer: φ = 10.55 °

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·60 = 377 rad/s
XL = ωL = 377·0.1 = 37.7 Ω
XC = 1/(ωC) = 1/(377·100·10⁻⁶) = 26.53 Ω

Impedance

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

|Z| = √(R² + (XL − XC)²) = √(60² + (11.17)²) = 61.03 Ω

Phase angle

φ = arctan((XL − XC)/R) = arctan(11.17/60) = 10.55°

Answer

φ = 10.55°
14.AC impedance & phasors

Answer: B = 159.2 Hz

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

Resonant frequency

f0 = 1/(2π·√(0.05·0.1·10⁻⁶)) = 2251 Hz

Quality factor

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

Q = (1/R)·√(L/C) = (1/50)·√(0.05/(0.1·10⁻⁶)) = 14.14

Bandwidth

B = f0/Q = 2251/14.14 = 159.2 Hz

Answer

B = 159.2 Hz
15.AC power & power factor

Answer: Q = 18.71 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.

Angle

φ = arccos(0.65) = 49.46°, tan φ = 1.169

Reactive power

Q = P·tan φ = 16·1.169 = 18.71 kvar

Answer

Q = 18.71 kvar
16.AC power & power factor

Answer: QC = 5.469 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 = 10·tan(36.87°) = 7.5 kvar
Q2 = P·tan φ2 = 10·tan(11.48°) = 2.031 kvar
QC = Q1 − Q2 = 5.469 kvar

Answer

QC = 5.469 kvar
17.Three-phase power

Answer: IL = 11 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 = 11/0.93 = 11.83 kW

Line current

IL = Pin/(√3·VL·cos φ) = 11828/(√3·690·0.9) = 11 A

Answer

IL = 11 A
18.Three-phase power

Answer: Cph = 1027 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 = 250·tan(acos 0.65) = 250·1.169 = 292.3 kvar
Q2 = 250·tan(acos 0.92) = 250·0.426 = 106.5 kvar

Reactive power from the capacitors

QC = Q1 − Q2 = 185.8 kvar

Capacitance per phase

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

V = 400 V, ω = 2π·60 = 377 rad/s
Cph = (QC/3)/(ω·V²) = 61928/(377·400²) = 1027 µF

Answer

Cph = 1027 µF
19.Transformers

Answer: a = 4

Ideal transformer: the voltages are in the ratio of the turns and the currents in the inverse ratio: V₁/V₂ = N₁/N₂ = a and I₁/I₂ = N₂/N₁ = 1/a, so the power in equals the power out, V₁·I₁ = V₂·I₂. A load impedance Z on the secondary looks like a²·Z from the primary.

Match the referred load

a²·2 = 32
a = √(32/2) = √16 = 4

Answer

a = 4
20.Transformers

Answer: Sη,max = 61.24 kVA

Transformer losses: the core loss (hysteresis and eddy currents) depends on the voltage and is the same at any load. The copper loss in the windings goes with the current squared, so at a fraction x of rated load it is x²·Pcu,fl. Efficiency η = Pout/(Pout + Pcore + Pcu), with Pout = x·S·pf. The efficiency is highest at the load where the copper loss equals the core loss.

Copper loss equals core loss

x²·562.5 = 375 → x = √(375/562.5) = 0.8165

Load at maximum efficiency

Sη,max = x·S = 0.8165·75 = 61.24 kVA

Answer

Sη,max = 61.24 kVA
21.Op-amp circuits

Answer: Rf = 50 kΩ

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

Gain of a non-inverting amplifier

V₋ = V₊ = Vin, and the current through R₁ also flows through Rf, so Vout = Vin·(1 + Rf/R₁).

Av = 1 + Rf/R1
Rf = (6 − 1)·10 = 50 kΩ

Answer

Rf = 50 kΩ
22.Op-amp circuits

Answer: Vout = −1.909 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 current and ramp rate

kΩ times µF gives milliseconds.

RC = 22 kΩ · 0.1 µF = 2.2 ms
ramp rate = −Vin/(RC) = −2.1/2.2 = −0.9545 V/ms

Output at the given time

The ideal value lies inside ±Vsat, so the integrator has not clipped yet.

Vout = −Vin·t/(RC) = −2.1·2/2.2 = −1.909 V

Answer

Vout = −1.909 V
23.Diodes & transistors

Answer: VCE = 15.13 V

BJT bias point: in the active region VBE = 0.7 V, IC = β·IB and IE = (β + 1)·IB. Find IB from the base loop with KVL, then IC, then VCE from the collector–emitter loop. A voltage divider at the base is replaced by its Thévenin equivalent VTH = VCC·R₂/(R₁ + R₂), RTH = R₁∥R₂; an emitter resistor appears (β + 1) times larger in the base loop.

Thévenin equivalent of the divider

VTH = 20·12/(100 + 12) = 2.143 V
RTH = 100·12/(100 + 12) = 10.71 kΩ

Base current

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

IB = (2.143 − 0.7)/(10.71 + 121·1) = 10.95 µA

Collector current

IC = 120·10.95 µA = 1.315 mA
IE = 121·10.95 µA = 1.325 mA

Collector–emitter voltage

VCE = 20 − 1.315·2.7 − 1.325·1 = 15.13 V

Answer

VCE = 15.13 V
24.Diodes & transistors

Answer: IC = 19.55 mA

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.

Base current

IB = (5 − 0.7)/33 kΩ = 130.3 µA

Saturated or active?

β·IB is smaller than IC(sat), so the transistor stays active.

β·IB = 19.55 mA
IC(sat) = (12 − 0.2)/470 = 25.11 mA

Collector current

IC = β·IB = 19.55 mA

Answer

IC = 19.55 mA

The transistor is active, so the load is not fully switched on.

25.Number systems

Answer: U = 182

Setting bits: each bit is worth a power of two (128, 64, …, 1). One hex digit is exactly four bits, and in 8-bit two's complement the leftmost bit is worth −128. Bitwise operations work on each bit position separately.

Invert and add one

74 = 0100 1010
inverted: 1011 0101
+1 → 1011 0110

Read it as unsigned

1011 0110₂ = 256 − 74 = 182

Answer

U = 182
26.Number systems

Answer: R = 100

Setting bits: each bit is worth a power of two (128, 64, …, 1). One hex digit is exactly four bits, and in 8-bit two's complement the leftmost bit is worth −128. Bitwise operations work on each bit position separately.

Bit by bit

Shifting left by 2 moves every bit 2 places to the left; bits that fall off the left end are lost and zeros come in on the right.

1101 1001 << 2
= 0110 0100

Value of the result

0110 0100₂ = 100

Answer

R = 100
27.Digital logic: gates, K-maps & flip-flops

Answer: N = 4

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

ABCD000111100001111000010302140517160120130151140819111110

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)
(A′ + B′ + D′)

Minimal POS form

F = (B′ + C + D′)(A′ + C + D)(A + B)(A′ + B′ + D′)
N = 4

Answer

N = 4

Another grouping of the same size exists; it has the same number of terms and literals.

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

Answer: N = 4

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

Prime implicants

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

BC′, A′C′D, AC′D′, ABD′
ABCD00011110000111100011030214150706X121130151141809X11010

Minimal cover

F = BC′ + A′C′D + AC′D′ + ABD′
N = 4

Answer

N = 4
29.Laplace transforms

Answer: A = −3.5

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 = (5s + 8)/(s + 5) |s = −3 = −7/2 = −3.5

Answer

A = −3.5
(B = 8.5, so f(t) = −3.5·e−3t + 8.5·e−5t)
30.Laplace transforms

Answer: g(0.1) = 2.022

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

Transfer function

G(s) = Y(s)/U(s) = (s + 17)/(s² + 4s + 8)

Partial fractions

s² + 4s + 8 = (s + 2)² + 2²
G(s) = 1·(s + 2)/((s + 2)² + 2²) + (15/2)·2/((s + 2)² + 2²)

Impulse response

g(t) = e−2t·(cos 2t + 7.5·sin 2t)
g(0.1) = 2.022

Answer

g(0.1) = 2.022
31.Block diagrams

Answer: τ = 0.08333 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) = 3/(s + 6 + 6) = 3/(s + 12)

Result

τ = 1/12 = 0.08333 s

Answer

τ = 0.08333 s
32.Block diagrams

Answer: Kmax = 1224

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 + 17s² + 72s + K = 0

Routh array

s³ | 1 72
s² | 17 K
s¹ | (17·72 − K)/17
s⁰ | K

Stability limit

All entries of the first column must be positive.

Kmax = 17·72 = 1224

Answer

Kmax = 1224
33.Step response

Answer: %OS = 4.593 %

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 = 51 → ωₙ = 7.141 rad/s
2ζωₙ = 10 → ζ = 10/(2·7.141) = 0.7001

Result

%OS = 100·e−ζπ/√(1−ζ²) = 100·e−3.081 = 4.593 %

Answer

%OS = 4.593 %
34.Step response

Answer: ζ = 0.7797

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).

Damping ratio

ζ = −ln(0.02)/√(π² + ln²(0.02)) = 3.912/√(9.87 + 15.3) = 0.7797

Answer

ζ = 0.7797
35.Bode plots & margins

Answer: |H| = −9.877 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.

Corner frequency

ωc = R/L = 220/0.0047 = 46809 rad/s
fc = 7450 Hz → f/fc = 22000/7450 = 2.953

Gain

|H| = 1/√(1 + 2.953²) = 0.3207
20·log₁₀(0.3207) = −9.877 dB

Answer

|H| = −9.877 dB
36.Bode plots & margins

Answer: ωc = 7.862 rad/s

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

Gain crossover

ω⁴ + 100ω² − 10000 = 0
ω² = (−100 + √(10000 + 4·10000))/2 = 61.8
ωc = 7.862 rad/s

Answer

ωc = 7.862 rad/s
37.Stability: Routh–Hurwitz & root locus

Answer: ω = 4.472 rad/s

Routh–Hurwitz criterion: a linear system is stable when every root of its characteristic polynomial lies in the left half of the s-plane. Write the coefficients alternately into the first two rows of the Routh array. Each entry of a new row comes from the two rows above it; for a cubic a₃s³ + a₂s² + a₁s + a₀ the s¹ entry is b₁ = (a₂·a₁ − a₃·a₀)/a₂. The number of sign changes in the first column equals the number of roots in the right half-plane. With a gain K in the coefficients, every first-column entry must stay positive: the gain that makes the s¹ entry zero is the stability limit, and the s² row then gives the frequency of the sustained oscillation.

Routh array

s³ + 9s² + 20s + K = 0
s³: 1, 20
s²: 9, K
s¹: (9·20 − K)/9
s⁰: K

Critical gain

K = 9·20 = 180

Auxiliary equation

At the critical gain the s¹ row is zero; the s² row gives the poles on the imaginary axis.

9s² + 180 = 0 → s = ±j√20
ω = 4.472 rad/s

Answer

ω = 4.472 rad/s
38.Stability: Routh–Hurwitz & root locus

Answer: σa = 0.5

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

Poles and zeros

poles: 0, −3, −6
zeros: −10
n − m = 3 − 1 = 2

Centroid

σa = (−9 − (−10))/2 = 0.5

Answer

σa = 0.5

The 2 asymptotes leave the centroid at angles of 90°, 270°.

39.Steady-state error & PID control

Answer: K = 180

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

Required error constant

1/(1 + Kp) = 0.1 → Kp = 9

Gain

K/20 = 9 → K = 180

Answer

K = 180

Check the closed-loop stability as well: for this second-order loop any K > 0 is stable.

40.Steady-state error & PID control

Answer: ess = 12.5

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

Velocity constant

s·C(s) = 5s + 1 → 1 as s → 0.

Kv = 1·2/5 = 0.4

Ramp error

ess = 5/0.4 = 12.5

Answer

ess = 12.5

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

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