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​ = 3 ΩR3​ = 10 Ω+−V1​10 VR2​2 ΩIR2​AR4​3 ΩB

Find the current IR2 through R2.

V1 = 10 VR1 = 3 ΩR2 = 2 ΩR3 = 10 ΩR4 = 3 Ω
IR2 = A
2.Series & parallel resistorsHard
R1​ = 2 ΩR3​ = 5 ΩR5​ = 6 Ω+−V1​5 VR2​10 ΩIR2​AR4​12 ΩBR6​12 Ω

Find the current IR2 through R2.

V1 = 5 VR1 = 2 ΩR2 = 10 ΩR3 = 5 ΩR4 = 12 ΩR5 = 6 ΩR6 = 12 Ω
IR2 = A
3.Nodal analysisMedium
R1​ = 20 ΩIR1​R3​ = 15 Ω+−V1​24 VR2​5 ΩAR4​20 ΩBIs​1 A

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

V1 = 24 VIs = 1 AR1 = 20 ΩR2 = 5 ΩR3 = 15 ΩR4 = 20 Ω
IR1 = A
4.Nodal analysisHard
R1​ = 15 ΩIR1​R2​ = 25 ΩR4​ = 5 Ω+−V1​30 VR3​5 ΩAR5​12 ΩBIs​0.5 A+−V2​30 V

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

V1 = 30 VIs = 0.5 AV2 = 30 VR1 = 15 ΩR2 = 25 ΩR3 = 5 ΩR4 = 5 ΩR5 = 12 Ω
IR1 = A
5.Mesh analysisMedium
R1​ = 12 ΩR2​ = 3 Ω+−V1​18 VR3​5 ΩA+−V2​18 VI1​I2​

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

V1 = 18 VV2 = 18 VR1 = 12 ΩR2 = 3 ΩR3 = 5 Ω
I1 = A
6.Mesh analysisHard
R1​ = 5 ΩR2​ = 20 Ω+−VR2​R3​ = 12 Ω+−V1​5 VR4​12 ΩAR5​8 ΩB+−V2​24 VI1​I2​I3​

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

V1 = 5 VV2 = 24 VR1 = 5 ΩR2 = 20 ΩR3 = 12 ΩR4 = 12 ΩR5 = 8 Ω
VR2 = V
7.SuperpositionMedium
linear circuitVs​Is​IRL​

A linear resistive circuit contains one voltage source Vs and one current source Is. The current I through a load resistor is measured twice: with Vs = 20 V and Is = 3 mA, I = 8.5 mA; with Vs = 8 V and Is = 4 mA, I = 2 mA. Find the load current I when Vs = 15 V and Is = 8 mA.

20 V, 3 mA → 8.5 mA8 V, 4 mA → 2 mAVs = 15 V, Is = 8 mA
I = mA
8.SuperpositionHard
R1​ = 25 ΩR2​ = 6 ΩR4​ = 8 Ω+−V1​30 VR3​3 ΩIR3​AIs​4 AB+−V2​?

Find the value of the voltage source V2 (polarity as shown) that makes the current IR3 through R3 equal to zero.

V1 = 30 VIs = 4 AR1 = 25 ΩR2 = 6 ΩR3 = 3 ΩR4 = 8 Ω
V2 = V
9.Thévenin & NortonMedium
R1​ = 5 ΩR3​ = 3 Ω+−V1​18 VR2​12 ΩAab

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

V1 = 18 VR1 = 5 ΩR2 = 12 ΩR3 = 3 Ω
IN = A
10.Thévenin & NortonHard
R1​ = 5 ΩR3​ = 2 Ω+−V1​24 VR2​3 ΩAIs​3 ABRL​2 ΩIL​

A load RL = 2 Ω is connected across a–b. Replace the rest of the circuit with its Thévenin equivalent and find the load current IL.

V1 = 24 VIs = 3 AR1 = 5 ΩR2 = 3 ΩR3 = 2 ΩRL = 2 Ω
IL = A
11.RC & RL transientsMedium
+−Vs​10 Vt = 0R = 10 ΩL100 mHi(t)

The inductor carries no current before the switch closes at t = 0. How long after the switch closes does the current reach 80% of its final value? Find t.

Vs = 10 VR = 10 ΩL = 100 mH
t = ms
12.RC & RL transientsHard
+−Vs​6 Vt = 0R = 4.7 kΩC220 µF+−vC​vC​(0) = 3 V

Just before the switch closes at t = 0, the capacitor holds 3 V with the polarity shown. Find the capacitor voltage vC at t = 400 ms.

Vs = 6 VR = 4.7 kΩC = 220 µFvC(0) = 3 Vt = 400 ms
vC = V
13.AC impedance & phasorsMedium
12 V200 HzR = 100 ΩL = 250 mHC = 10 µFI

A series RLC circuit is connected to a 12 V (rms), 200 Hz supply. Find the power factor cos φ of the circuit.

V = 12 V (rms)f = 200 HzR = 100 ΩL = 250 mHC = 10 µF
cos φ =
14.AC impedance & phasorsHard
100 V500 HzR1​ = 40 ΩR2​ = 40 ΩC = 22 µF

A resistor R1 is connected in series with a parallel combination of R2 and a capacitor C, across a 100 V (rms), 500 Hz supply. Find the magnitude of the impedance |Z|.

V = 100 V (rms)f = 500 HzR1 = 40 ΩR2 = 40 ΩC = 22 µF
|Z| = Ω
15.AC power & power factorMedium
230 VR + jXP = 2415 W15 A

An inductive load takes 15 A and 2415 W from a 230 V (rms) single-phase supply. Model it as a resistance R in series with a reactance X. Find R.

V = 230 VI = 15 AP = 2415 W
R = Ω
16.AC power & power factorHard
P1​ = 43 kWQ1​S1​φ

A 100 kVA single-phase transformer supplies a load of 43 kW at a power factor of 0.85 lagging. How much extra real power ΔP can be added as a resistive (unity power factor) load before the transformer reaches its kVA rating?

Smax = 100 kVAP1 = 43 kWpf1 = 0.85
ΔP = kW
17.Three-phase powerMedium
ABCVL​ = 400 VIL​ = 120 Acos φ = 0.7lagging

A balanced three-phase load draws a line current of 120 A from a supply with a line-to-line voltage of 400 V. The power factor is 0.7 lagging. Find the total real power P drawn by the load in kW.

VL = 400 VIL = 120 Acos φ = 0.7
P = kW
18.Three-phase powerHard
P = 50 kWφ1​S1​Q2​QC​

A balanced three-phase load takes 50 kW at a power factor of 0.65 lagging from a 415 V (line-to-line), 50 Hz supply. A three-phase capacitor bank in parallel with the load must raise the overall power factor to 0.98 lagging. The real power stays the same. The capacitors are connected in Δ. Find the capacitance Cph of each capacitor in µF.

P = 50 kWpf1 = 0.65pf2 = 0.98VL = 415 Vf = 50 Hz
Cph = µF
19.TransformersMedium
10000 V400 VIHV​ = ?ILV​150 kVA

A single-phase 150 kVA, 10000/400 V transformer operates at its rated load. Treat it as ideal. Find the current IHV in the high-voltage winding.

S = 150 kVAV1 = 10000 VV2 = 400 V
IHV = A
20.TransformersHard
pf 0.825 kVA, 75% load

A single-phase 25 kVA transformer has a core loss of 125 W and a copper loss of 500 W at rated load. It supplies 75% of its rated kVA at a power factor of 0.8 lagging. Find the total losses Ploss in watts at this load.

S = 25 kVAPcore = 125 WPcu,fl = 500 Wx = 0.75pf = 0.8
Ploss = W
21.Op-amp circuitsMedium
−+Vout​Rf​ = ?R1​ = 10 kΩVin​

Choose the feedback resistor Rf that gives this non-inverting amplifier a voltage gain of 10.

R1 = 10 kΩAv = 10
Rf = kΩ
22.Op-amp circuitsHard
Vin​V1​Vout​stage 1: invertingR1​ = 10 kΩRf1​ = 100 kΩstage 2: non-invertingR2​ = 1 kΩRf2​ = 2 kΩ

Two ideal op-amp stages are connected in cascade: an inverting amplifier (R1, Rf1) followed by a non-inverting amplifier (R2 to ground, Rf2 in the feedback). Both run from ±15 V supplies. The input is Vin = −0.2 V. Find the output voltage Vout.

R1 = 10 kΩRf1 = 100 kΩR2 = 1 kΩRf2 = 2 kΩVin = −0.2 V
Vout = V
23.Diodes & transistorsMedium
+−12 VR = ?4 × 2 V20 mA

4 red LEDs (forward voltage 2 V each) are connected in series with a resistor to a 12 V supply. Find the resistance R that sets the current to 20 mA.

Vs = 12 VVF = 2 Vn = 4I = 20 mA
R = Ω
24.Diodes & transistorsHard
+−≤ 19 V150 Ω5.6 V

A 5.6 V Zener regulator has a 150 Ω series resistor. The input can rise to 19 V, and the load may be disconnected. Find the largest power PZ,max the Zener must dissipate.

Vin,max = 19 VVZ = 5.6 VR = 150 Ω
PZ,max = mW
25.Number systemsMedium
place values in two's complement1−12816403211618041201

The 8-bit pattern 1101 1010 stores a signed integer in two's complement. What is its value N in decimal?

1101 10108 bit
N =
26.Number systemsHard
16 bit1 px800 px600 pxM = ? KiB

An uncompressed image is 800 × 600 pixels with 16 bits per pixel. How much memory M does it take, in KiB (1 KiB = 1024 bytes)?

800 × 600 px16 bit/px1 KiB = 1024 B
M = KiB
27.Digital logic: gates, K-maps & flip-flopsMedium
MUXC′I0​1I1​CI2​0I3​ABS1​S0​F

A 4-to-1 multiplexer has its select inputs S₁ = A and S₀ = B, and its data inputs tied to I₀ = C′, I₁ = 1, I₂ = C, I₃ = 0. For how many of the 8 combinations of A, B and C is the output F = 1? Find N.

I₀ = C′I₁ = 1I₂ = CI₃ = 0
N =
28.Digital logic: gates, K-maps & flip-flopsHard
FFQ0​Q0​FFQ1​Q1​FFQ2​Q2​FFQ3​Q3​CLKMOD-9

A mod-9 counter is built from the minimum number of flip-flops. How many of the possible states U are never used?

N = 9
U =
29.Laplace transformsMedium
ReIm−5−10−15

F(s) = (2s + 34)/(s² + 5s + 4). Its inverse transform has the form f(t) = A·e−t + B·e−4t. Find the coefficient A by partial fractions.

F(s) = (2s + 34)/(s² + 5s + 4)
A =
30.Laplace transformsHard
t (s)y(t)t = 1.2y(1.2) = ?

A system obeys y″ + 4y′ + 3y = 12·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(1.2).

y″ + 4y′ + 3y = 12·u(t)u(t) = 5y(0) = 0, y′(0) = 0t = 1.2 s
y(1.2) =
31.Block diagramsMedium
R(s)+33s + 1G(s)C(s)0.25H−

A plant G(s) = 33/(s + 1) is controlled in a negative feedback loop whose sensor has the gain H = 0.25. Find the time constant τ of the closed loop.

G(s) = 33/(s + 1)H = 0.25
τ = s
32.Block diagramsHard
R(s)+20s + 4G₁+7s + 7G₂C(s)2H₁−0.2H₂−

Reduce the block diagram with G₁ = 20/(s + 4), G₂ = 7/(s + 7), an inner negative feedback H₁ = 2 around G₂ and an outer negative feedback H₂ = 0.2. Find the DC gain T(0) of C(s)/R(s).

G₁ = 20/(s + 4)G₂ = 7/(s + 7)H₁ = 2H₂ = 0.2
T(0) =
33.Step responseMedium
t (s)y(t)1?

A system has the transfer function G(s) = 41/(s² + 5s + 41) and receives a unit step input. Find the percent overshoot %OS of the step response.

G(s) = 41/(s² + 5s + 41)
%OS = %
34.Step responseHard
R(s)+220s(s + 16)G(s)C(s)−

A unity negative feedback loop has G(s) = 220/(s(s + 16)). Find the 2 % settling time ts of the closed-loop step response, using ts ≈ 4/(ζωₙ).

G(s) = 220/(s(s + 16))
ts = s
35.Bode plots & marginsMedium
|H| (dB)0.11101001000−80−60−40−20020ω (rad/s)ω = 3

Find the exact magnitude |G(jω)| of G(s) = 480/((s + 15)(s + 16)) at ω = 3 rad/s, in dB.

G(s) = 480/((s + 15)(s + 16))ω = 3 rad/s
|G(jω)| = dB
36.Bode plots & marginsHard
|H| (dB)0.10.111101010010010001000−60−40−200204060ω (rad/s)φ (°)ω (rad/s)−180−135−90−450ωc​

A unity-feedback loop has the open-loop transfer function L(s) = 120/(s(s + 4)). Find the phase margin PM in degrees.

L(s) = 120/(s(s + 4))
PM = °
37.Stability: Routh–Hurwitz & root locusMedium
R(s)+Ks + 4s(s + 1)(s + 2)C(s)−

A unity-feedback loop has L(s) = K(s + 4)/(s(s + 1)(s + 2)), with K > 0. Find the largest gain Kmax for which the closed loop is stable.

L(s) = K(s + 4)/(s(s + 1)(s + 2))
Kmax =
38.Stability: Routh–Hurwitz & root locusHard
ReIm−1−2−3−4−5−6−7−8−9−101j1j2sb​

The root locus of L(s) = K/((s + 4)(s + 8)) is shown. Find the gain K at the break-away point sb, where the two closed-loop poles meet on the real axis.

L(s) = K/((s + 4)(s + 8))
K =
39.Steady-state error & PID controlMedium
r(t) = 10 + 1t+4(s + 1)s(s + 5)(s + 10)C(s)−

The input r(t) = 10 + 1t (a step plus a ramp) is applied to a unity-feedback loop with G(s) = 4(s + 1)/(s(s + 5)(s + 10)). Find the steady-state error ess.

G(s) = 4(s + 1)/(s(s + 5)(s + 10))r(t) = 10 + 1t
ess =
40.Steady-state error & PID controlHard
R(s)+Kp​ + Ki​/s1s + 2C(s)−

A PI controller C(s) = Kp + Ki/s drives the plant G(s) = 1/(s + 2) in a unity-feedback loop. The closed loop must have ωₙ = 4 rad/s and ζ = 0.8. Find the integral gain Ki.

G(s) = 1/(s + 2)ωₙ = 4 rad/sζ = 0.8
Ki =

3Solutions

1.Series & parallel resistors

Answer: IR2 = 1.831 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​ = 3 ΩR3​ = 10 Ω+−V1​10 VR2​2 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 = 10 + 3 = 13 Ω
R2 ∥ 13 = 2·13/(2+13) = 1.733 Ω
Req = R1 + 1.733 = 3 + 1.733 = 4.733 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 = 10/4.733 = 2.113 A

Current through R₂

Subtract the drop across R₁ to get the voltage at node A, which is the voltage across R₂.

VA = V1 − IR1·R1 = 10 − 2.113·3 = 3.662 V
IR2 = VA/R2 = 3.662/2 = 1.831 A

Answer

IR2 = 1.831 A
2.Series & parallel resistors

Answer: IR2 = 0.3666 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​ = 2 ΩR3​ = 5 ΩR5​ = 6 Ω+−V1​5 VR2​10 ΩAR4​12 ΩBR6​12 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 + 12 = 18 Ω
R4 ∥ 18 = 7.2 Ω
R3 + 7.2 = 12.2 Ω
R2 ∥ 12.2 = 5.495 Ω
Req = R1 + 5.495 = 2 + 5.495 = 7.495 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 = 5/7.495 = 0.6671 A

Current through R₂

Subtract the drop across R₁ to get the voltage at node A, which is the voltage across R₂.

VA = V1 − IR1·R1 = 5 − 0.6671·2 = 3.666 V
IR2 = VA/R2 = 3.666/10 = 0.3666 A

Answer

IR2 = 0.3666 A
3.Nodal analysis

Answer: IR1 = 0.8821 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​ = 15 Ω+−V1​24 VR2​5 ΩAR4​20 ΩBIs​1 A

Set up the nodes

Ground is the bottom wire. Known node voltages come straight from the sources (V1 = 24 V). Unknowns: VA, VB.

KCL at node A

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

VA/R2 + (VA − V1)/R1 + (VA − VB)/R3 = 0
VA/5 + (VA − 24)/20 + (VA − VB)/15 = 0
0.3167·VA − 0.06667·VB = 1.2

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/20 + (VB − VA)/15 = 1
−0.06667·VA + 0.1167·VB = 1

Solve

Δ = (0.3167)(0.1167) − (−0.06667)(−0.06667) = 0.0325
VA = Δ1/Δ = 0.2067/0.0325 = 6.359 V
VB = Δ2/Δ = 0.3967/0.0325 = 12.21 V

Answer

IR1 = (V1 − VA)/R1 = (24 − 6.359)/20 = 0.8821 A
4.Nodal analysis

Answer: IR1 = 1.38 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​ = 15 ΩR2​ = 25 ΩR4​ = 5 Ω+−V1​30 VR3​5 ΩAR5​12 ΩBIs​0.5 A+−V2​30 V

Set up the nodes

Ground is the bottom wire. Known node voltages come straight from the sources (V1 = 30 V, V2 = 30 V). Unknowns: VA, VB.

KCL at node A

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

VA/R3 + (VA − V1)/R1 + (VA − VB)/R2 = 0
VA/5 + (VA − 30)/15 + (VA − VB)/25 = 0
0.3067·VA − 0.04·VB = 2

KCL at node B

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

VB/R5 + (VB − VA)/R2 + (VB − V2)/R4 = Is
VB/12 + (VB − VA)/25 + (VB − 30)/5 = 0.5
−0.04·VA + 0.3233·VB = 6.5

Solve

Δ = (0.3067)(0.3233) − (−0.04)(−0.04) = 0.09756
VA = Δ1/Δ = 0.9067/0.09756 = 9.294 V
VB = Δ2/Δ = 2.073/0.09756 = 21.25 V

Answer

IR1 = (V1 − VA)/R1 = (30 − 9.294)/15 = 1.38 A
5.Mesh analysis

Answer: I1 = 0.4865 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​ = 12 ΩR2​ = 3 Ω+−V1​18 VR3​5 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
12·I1 + 5(I1 − I2) = 18
17·I1 − 5·I2 = 18

KVL around mesh 2

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

R2·I2 + R3(I2 − I1) = −V2
3·I2 + 5(I2 − I1) = (−18)
−5·I1 + 8·I2 = −18

Solve

Δ = (17)(8) − (−5)(−5) = 111
I1 = Δ1/Δ = 54/111 = 0.4865 A
I2 = Δ2/Δ = −216/111 = −1.946 A

Answer

I1 = 0.4865 A

A negative mesh current flows anticlockwise.

6.Mesh analysis

Answer: VR2 = −4.286 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​ = 5 ΩR2​ = 20 ΩR3​ = 12 Ω+−V1​5 VR4​12 ΩAR5​8 ΩB+−V2​24 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 + 12(I1 − I2) = 5
17·I1 − 12·I2 = 5

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 + 12(I2 − I1) + 8(I2 − I3) = 0
−12·I1 + 40·I2 − 8·I3 = 0

KVL around mesh 3

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

R3·I3 + R5(I3 − I2) = −V2
12·I3 + 8(I3 − I2) = (−24)
−8·I2 + 20·I3 = −24

Solve

Δ = det of the coefficient matrix = 9632
I1 = Δ1/Δ = 1376/9632 = 0.1429 A
I2 = Δ2/Δ = −2064/9632 = −0.2143 A
I3 = Δ3/Δ = −12384/9632 = −1.286 A

Answer

IR2 = I2 = −0.2143 A
VR2 = IR2·R2 = −0.2143·20 = −4.286 V

A negative mesh current flows anticlockwise.

7.Superposition

Answer: I = 3.5 mA

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

Write the response as a sum of contributions

Each contribution is proportional to its own source, with a constant that depends only on the resistors.

I = k₁·Vs + k₂·Is
20·k₁ + 3·k₂ = 8.5
8·k₁ + 4·k₂ = 2

Solve for the constants

Δ = (20)(4) − (3)(8) = 56
k₁ = Δ1/Δ = 28/56 = 0.5
k₂ = Δ2/Δ = −28/56 = −0.5
k₁ = 0.5 mA/V, k₂ = −0.5

Predict the new current

I = 0.5·15 + (−0.5)·8 = 3.5 mA

Answer

I = 3.5 mA
8.Superposition

Answer: V2 = 15.2 V

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

R1​ = 25 ΩR2​ = 6 ΩR4​ = 8 Ω+−V1​30 VR3​3 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) = 3 ∥ 14 = 2.471 Ω
VA = 30·2.471/(25+2.471) = 2.698 V
VB = VA·R4/(R2+R4) = 2.698·8/14 = 1.542 V
R1​ = 25 ΩR2​ = 6 ΩR4​ = 8 ΩSHORTR3​3 ΩAIs​4 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. The arrow of Iₛ points down, away from its node, so Iₛ draws current out of that node: its term enters with a minus sign.

R1 ∥ R3 = 2.679 Ω, so the left path is R2+2.679 = 8.679 Ω
Req = R4 ∥ 8.679 = 4.163 Ω
VB = −Is·Req = −4·4.163 = −16.65 V
VA = VB·2.679/8.679 = −5.139 V

Case 3 · V2 acting alone, per volt

V₁ becomes a short and Iₛ an open circuit. R₁ ∥ R₃ hangs from A, in series with R₂ back to B.

R1 ∥ R3 = 2.679 Ω
VA‴ = V2·2.679/(8 + 6 + 2.679) = 0.1606·V2

Set VA to zero

With VA = 0 there is no voltage across R₃, so its current is zero.

VA′ + VA″ + VA‴ = 2.698 + (−5.139) + 0.1606·V2 = 0
V2 = 2.441/0.1606 = 15.2 V

Answer

V2 = 15.2 V
9.Thévenin & Norton

Answer: IN = 1.946 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​ = 3 ΩSHORTR2​12 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 = 5·12/(5+12) = 3.529 Ω
Rth = (R1 ∥ R2) + R3 = 3.529 + 3 = 6.529 Ω
R1​ = 5 ΩR3​ = 3 Ω+−V1​18 VR2​12 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) = 18·12/(5+12) = 12.71 V
IN​1.946 ARth​6.529 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 = 12.71/6.529 = 1.946 A
10.Thévenin & Norton

Answer: IL = 3.511 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​ = 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 = 5·3/(5+3) = 1.875 Ω
Rth = (R1 ∥ R2) + R3 = 1.875 + 2 = 3.875 Ω
R1​ = 5 ΩR3​ = 2 Ω+−V1​24 VR2​3 ΩAIs​3 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) = 9 + 3·1.875 = 14.63 V
Vth = VB = VA + Is·R3 = 14.63 + 3·2 = 20.63 V
Rth​ = 3.875 Ω+−Vth​20.63 VRL​2 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) = 20.63/(3.875 + 2) = 3.511 A
11.RC & RL transients

Answer: t = 16.09 ms

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

Time constant and final current

Long after the switch closes the inductor behaves like a short circuit, so the final current is set by R alone.

τ = L/R = 100 mH / 10 Ω = 10 ms
i(∞) = Vs/R = 10/10 = 1 A

Solve for the time

0.8 = 1 − e−t/τ → t = −τ·ln(1 − 0.8)
t = −10·ln(0.2) = 16.09 ms

Answer

t = 16.09 ms
12.RC & RL transients

Answer: vC = 3.962 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) = 3 V, vC(∞) = Vs = 6 V
τ = R·C = 4.7 kΩ · 220 µF = 1034 ms
vC(t) = 6 + (3 − 6)·e−t/τ

Voltage at the given time

vC(400) = 6 + (−3)·e−400/1034 = 3.962 V

Answer

vC = 3.962 V
13.AC impedance & phasors

Answer: cos φ = 0.3921

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

XL = 314.2 Ω, XC = 79.58 Ω

Impedance

|Z| = √(100² + (234.6)²) = 255 Ω

Power factor

cos φ = R/|Z| = 100/255 = 0.3921
The circuit is inductive, so the power factor is lagging.

Answer

cos φ = 0.3921
14.AC impedance & phasors

Answer: |Z| = 46.43 Ω

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

Reactance

XC = 1/(2π·500·22·10⁻⁶) = 14.47 Ω

Parallel combination

Multiply top and bottom by the complex conjugate to split Zp into real and imaginary parts.

Zp = R₂·(−jXC)/(R₂ − jXC) = (R₂·XC² − jR₂²·XC)/(R₂² + XC²)
Zp = 4.628 − j12.79 Ω

Total impedance

Z = 40 + 4.628 − j12.79 = 44.63 − j12.79 Ω
|Z| = √(44.63² + 12.79²) = 46.43 Ω

Answer

|Z| = 46.43 Ω
15.AC power & power factor

Answer: R = 10.73 Ω

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.

Resistance from the real power

R = P/I² = 2415/15² = 10.73 Ω

Answer

R = 10.73 Ω
16.AC power & power factor

Answer: ΔP = 53.38 kW

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

Reactive power of the existing load

Q1 = 43·tan(arccos 0.85) = 26.65 kvar

Largest total real power

At full rating S = Smax, and Q is unchanged by the resistive load.

P = √(Smax² − Q1²) = √(100² − 26.65²) = 96.38 kW

Extra real power

ΔP = 96.38 − 43 = 53.38 kW

Answer

ΔP = 53.38 kW
17.Three-phase power

Answer: P = 58.2 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 = √3·400·120 = 83.14 kVA

Real power

P = S·cos φ = 83.14·0.7 = 58.2 kW

Answer

P = 58.2 kW
18.Three-phase power

Answer: Cph = 297.6 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 = 50·tan(acos 0.65) = 50·1.169 = 58.46 kvar
Q2 = 50·tan(acos 0.98) = 50·0.2031 = 10.15 kvar

Reactive power from the capacitors

QC = Q1 − Q2 = 48.3 kvar

Capacitance per phase

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

V = 415 V, ω = 2π·50 = 314.2 rad/s
Cph = (QC/3)/(ω·V²) = 16101/(314.2·415²) = 297.6 µF

Answer

Cph = 297.6 µF
19.Transformers

Answer: IHV = 15 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.

Rated current

Both windings carry the same apparent power.

IHV = S/V = 150000/10000 = 15 A

Answer

IHV = 15 A
20.Transformers

Answer: Ploss = 406.3 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 = 0.5625·500 = 281.3 W

Total losses

The core loss is the same at any load.

Ploss = 125 + 281.3 = 406.3 W

Answer

Ploss = 406.3 W

The efficiency at this load is η = 97.36%.

21.Op-amp circuits

Answer: Rf = 90 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 = (10 − 1)·10 = 90 kΩ

Answer

Rf = 90 kΩ
22.Op-amp circuits

Answer: Vout = 6 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.

Gain of each stage

A1 = −Rf1/R1 = −100/10 = −10
A2 = 1 + Rf2/R2 = 1 + 2/1 = 3

Stage by stage

V1 = −10·(−0.2) = 2 V
Vout = 3·2 = 6 V

Answer

Vout = 6 V
23.Diodes & transistors

Answer: R = 200 Ω

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

Voltage across the resistor

VR = 12 − 4·2 = 4 V

Resistance

R = 4/0.02 = 200 Ω

Answer

R = 200 Ω

The resistor dissipates 80 mW.

24.Diodes & transistors

Answer: PZ,max = 500.3 mW

Zener regulator: a reverse-biased Zener diode holds its voltage VZ while its current stays above a minimum IZ,min. The series resistor R takes the difference between input and output: IR = (Vin − VZ)/R. That current splits between the load, IL = VZ/RL, and the Zener: IZ = IR − IL. Design for the worst cases: the lowest input with the largest load must still leave IZ,min, and the highest input with no load gives the largest Zener power PZ = VZ·IZ.

Worst-case Zener current

IZ = 13.4/150 = 89.33 mA

Zener power

PZ = 5.6·89.33 = 500.3 mW

Answer

PZ,max = 500.3 mW
25.Number systems

Answer: N = −38

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

Add the place values

The other bits keep their normal positive values.

−128 + 64 + 16 + 8 + 2 = −38

Answer

N = −38
26.Number systems

Answer: M = 937.5 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

800·600·16 = 7680000 bit = 960000 B

Convert to KiB

960000/1024 = 937.5 KiB

Answer

M = 937.5 KiB
27.Digital logic: gates, K-maps & flip-flops

Answer: N = 4

Multiplexer: a 2ⁿ-to-1 multiplexer passes one of its data inputs to the output; the select lines, read as a binary number, pick which one. For a 4-to-1 MUX with selects S₁S₀ = AB, F = A′B′·I₀ + A′B·I₁ + AB′·I₂ + AB·I₃. Tying the data inputs to 0, 1, C or C′ makes the MUX produce any function of A, B and C, which is a common way to build logic with one chip.

Output expression

F = A′B′C′ + A′B + AB′C

Rows with F = 1

ABC = 000, 010, 011, 101
N = 4

Answer

N = 4
28.Digital logic: gates, K-maps & flip-flops

Answer: U = 7

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.

Number of flip-flops

2ⁿ ≥ 9 → n = 4 (2⁴ = 16)

Unused states

U = 16 − 9 = 7

Answer

U = 7
29.Laplace transforms

Answer: A = 10.67

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 + 5s + 4 = (s + 1)(s + 4)
F(s) = A/(s + 1) + B/(s + 4)

Cover-up rule

Multiply by (s + 1) and set s = −1: the B-term vanishes.

A = (2s + 34)/(s + 4) |s = −1 = 32/3 = 10.67

Answer

A = 10.67
(B = −8.667, so f(t) = 10.67·e−t − 8.667·e−4t)
30.Laplace transforms

Answer: y(1.2) = 11.24

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) = 60/(s(s + 1)(s + 3))

Partial fractions

A = 60/(1·3) = 20
B = 60/((−1)·2) = −30
C = 60/((−3)·(−2)) = 10

Output

y(t) = 20 − 30·e−t + 10·e−3t
y(1.2) = 11.24

Answer

y(1.2) = 11.24
31.Block diagrams

Answer: τ = 0.1081 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) = 33/(s + 1 + 8.25) = 33/(s + 9.25)

Result

τ = 1/9.25 = 0.1081 s

Answer

τ = 0.1081 s
32.Block diagrams

Answer: T(0) = 1.25

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).

Inner loop

Gᵢ = G₂/(1 + G₂H₁) = 7/(s + 21)

Outer loop

T(s) = G₁Gᵢ/(1 + G₁GᵢH₂) = 140/((s + 4)(s + 21) + 28)

DC gain

T(0) = 140/(4·21 + 28) = 140/112 = 1.25

Answer

T(0) = 1.25
33.Step response

Answer: %OS = 26.39 %

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 = 41 → ωₙ = 6.403 rad/s
2ζωₙ = 5 → ζ = 5/(2·6.403) = 0.3904

Result

%OS = 100·e−ζπ/√(1−ζ²) = 100·e−1.332 = 26.39 %

Answer

%OS = 26.39 %
34.Step response

Answer: ts = 0.5 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).

Closed-loop transfer function

T(s) = 220/(s² + 16s + 220): ωₙ = 14.83 rad/s, ζ = 0.5394

Settling time

ζωₙ = 16/2 = 8
ts ≈ 4/(ζωₙ) = 0.5 s

Answer

ts = 0.5 s

For this loop ζωₙ = a/2 whatever K is: raising K adds overshoot but does not shorten the settling time.

35.Bode plots & margins

Answer: |G(jω)| = 5.7 dB

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

Multiply the magnitudes

|G(j3)| = 480/(√(3² + 15²)·√(3² + 16²)) = 480/(15.3·16.28) = 1.928

Result

20·log₁₀(1.928) = 5.7 dB

Answer

|G(jω)| = 5.7 dB
36.Bode plots & margins

Answer: PM = 20.68 °

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

Gain crossover

ω⁴ + 16ω² − 14400 = 0
ω² = (−16 + √(256 + 4·14400))/2 = 112.3
ωc = 10.6 rad/s

Phase margin

∠L(jωc) = −90° − atan(10.6/4) = −159.3°
PM = 180° + ∠L = 20.68°

Answer

PM = 20.68°
37.Stability: Routh–Hurwitz & root locus

Answer: Kmax = 6

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

Characteristic polynomial

s(s + 1)(s + 2) + K(s + 4) = s³ + 3s² + (2 + K)s + 4K

Routh array

s³: 1, 2 + K
s²: 3, 4K
s¹: (3·(2 + K) − 4K)/3
s⁰: 4K

Condition

6 − 1K > 0
K < 6/1 = 6

Answer

Kmax = 6

With the zero to the right of s = −3 the loop would stay stable for every K > 0.

38.Stability: Routh–Hurwitz & root locus

Answer: K = 4

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

Break-away point

dK/ds = 0 for K = −(s + 4)(s + 8) gives 2s + 12 = 0.

sb = −6

Magnitude condition

K = |−6 + 4|·|−6 + 8| = 2·2 = 4

Answer

K = 4

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

39.Steady-state error & PID control

Answer: ess = 12.5

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

Velocity constant

Kv = lim s·G(s) = 0.08

Step part

Kp = ∞ → estep = 0

Ramp error

ess = 1/0.08 = 12.5

Answer

ess = 12.5
40.Steady-state error & PID control

Answer: Ki = 16

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

1 + C(s)G(s) = 0, multiplied by s(s + 2).

s² + (2 + 1Kp)s + 1Ki

Target polynomial

s² + 2·0.8·4s + 4² = s² + 6.4s + 16

Match the coefficients

1Ki = 16 → Ki = 16

Answer

Ki = 16

The integral term makes the loop type 1, so a step is followed without steady-state error.

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