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​ = 3 Ω+−V1​30 VR2​6 ΩAR4​8 ΩB

Find the equivalent resistance Req seen by the source V1.

V1 = 30 VR1 = 3 ΩR2 = 6 ΩR3 = 3 ΩR4 = 8 Ω
Req = Ω
2.Series & parallel resistorsHard
R1​ = 15 ΩR3​ = 2 ΩR5​ = 5 Ω+−V1​18 VR2​10 ΩAR4​3 ΩBR6​10 Ω

Find the equivalent resistance Req seen by the source V1.

V1 = 18 VR1 = 15 ΩR2 = 10 ΩR3 = 2 ΩR4 = 3 ΩR5 = 5 ΩR6 = 10 Ω
Req = Ω
3.Nodal analysisMedium
R1​ = 2 ΩR3​ = 8 Ω+−V1​15 VR2​10 ΩAR4​2 ΩBIs​1 A

Use nodal analysis to find the power PIs delivered by the current source Is.

V1 = 15 VIs = 1 AR1 = 2 ΩR2 = 10 ΩR3 = 8 ΩR4 = 2 Ω
PIs = W
4.Nodal analysisHard
R1​ = 4 Ω+−Vs​ = 12 V+−V1​18 VR2​8 ΩAR3​30 ΩBIs​2 A

The voltage source Vₛ between A and B has its + terminal at A, so it makes VA − VB = Vₛ. Use nodal analysis with a supernode to find the node voltage VA (measured from ground).

V1 = 18 VIs = 2 AVs = 12 VR1 = 4 ΩR2 = 8 ΩR3 = 30 Ω
VA = V
5.Mesh analysisMedium
R1​ = 15 Ω+−VR1​R2​ = 15 Ω+−V1​9 VR3​10 ΩA+−V2​12 VI1​I2​

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

V1 = 9 VV2 = 12 VR1 = 15 ΩR2 = 15 ΩR3 = 10 Ω
VR1 = V
6.Mesh analysisHard
R1​ = 30 Ω+−VR1​R2​ = 6 ΩR3​ = 25 Ω+−V1​6 VR4​4 ΩAR5​15 ΩB+−V2​30 VI1​I2​I3​

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

V1 = 6 VV2 = 30 VR1 = 30 ΩR2 = 6 ΩR3 = 25 ΩR4 = 4 ΩR5 = 15 Ω
VR1 = V
7.SuperpositionMedium
R1​ = 5 ΩR3​ = 4 ΩIR3​+−V1​9 VR2​12 ΩAR4​4 ΩBIs​3 A

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

V1 = 9 VIs = 3 AR1 = 5 ΩR2 = 12 ΩR3 = 4 ΩR4 = 4 Ω
IR3 = A
8.SuperpositionHard
R1​ = 20 ΩR2​ = 8 ΩR4​ = 20 ΩIR4​+−V1​15 VR3​10 ΩAIs​2 AB−+V2​15 V

Use superposition to find the power PR4 absorbed by R4.

V1 = 15 VIs = 2 AV2 = 15 VR1 = 20 ΩR2 = 8 ΩR3 = 10 ΩR4 = 20 Ω
PR4 = W
9.Thévenin & NortonMedium
R1​ = 8 ΩR3​ = 20 Ω+−V1​10 VR2​5 ΩAab

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

V1 = 10 VR1 = 8 ΩR2 = 5 ΩR3 = 20 Ω
Vth = V
10.Thévenin & NortonHard
R1​ = 2 ΩR3​ = 6 Ω+−V1​24 VR2​4 ΩAIs​3 ABRL​5 ΩIL​

A load RL = 5 Ω is connected across a–b. Use a Thévenin equivalent to find the power PL delivered to the load.

V1 = 24 VIs = 3 AR1 = 2 ΩR2 = 4 ΩR3 = 6 ΩRL = 5 Ω
PL = W
11.RC & RL transientsMedium
+−Vs​15 Vt = 0R = 22 ΩL22 mHi(t)

The inductor carries no current before the switch closes at t = 0. Find the voltage vL across the inductor at t = 1 ms.

Vs = 15 VR = 22 ΩL = 22 mHt = 1 ms
vL = V
12.RC & RL transientsHard
+−Vs​12 VR1​ = 20 ΩR2​ = 15 Ωcloses at t = 0L47 mHi(t)

The switch across R2 has been open for a long time, so the inductor current is steady. At t = 0 the switch closes and shorts out R2. How long after t = 0 does the inductor current reach 0.471 A? Find t.

Vs = 12 VR1 = 20 ΩR2 = 15 ΩL = 47 mH
t = ms
13.AC impedance & phasorsMedium
120 V100 HzR = 40 ΩL = 250 mHC = 100 µF

A series RLC circuit is connected to a 120 V (rms), 100 Hz supply. Find the phase angle φ of the impedance, in degrees (positive when the current lags the voltage).

V = 120 V (rms)f = 100 HzR = 40 ΩL = 250 mHC = 100 µF
φ = °
14.AC impedance & phasorsHard
24 V50 HzR1​ = 50 ΩR2​ = 40 ΩC = 100 µFI

A resistor R1 is connected in series with a parallel combination of R2 and a capacitor C, across a 24 V (rms), 50 Hz supply. Find the rms current I.

V = 24 V (rms)f = 50 HzR1 = 50 ΩR2 = 40 ΩC = 100 µF
I = A
15.AC power & power factorMedium
P = 22 kWQ = ?Sφ

A single-phase motor takes 22 kW at a power factor of 0.7 lagging from a 240 V supply. Find the reactive power Q it draws.

P = 22 kWpf = 0.7V = 240 V
Q = kvar
16.AC power & power factorHard
400 V60 Hzload14 kW, 0.65C33 µFI = ?

A single-phase load takes 14 kW at a power factor of 0.65 lagging from a 400 V, 60 Hz supply. A 33 µF capacitor is connected in parallel with the load. Find the new line current I.

P = 14 kWpf1 = 0.65V = 400 Vf = 60 HzC = 33 µF
I = A
17.Three-phase powerMedium
ABCVL​ = 415 VIL​ = 60 Acos φ = 0.88lagging

A balanced three-phase load draws a line current of 60 A from a supply with a line-to-line voltage of 415 V. The power factor is 0.88 lagging. Find the total real power P drawn by the load in kW.

VL = 415 VIL = 60 Acos φ = 0.88
P = kW
18.Three-phase powerHard
P = 60 kWφ1​S1​Q2​QC​

A balanced three-phase load takes 60 kW at a power factor of 0.8 lagging from a 480 V (line-to-line), 60 Hz supply. A three-phase capacitor bank in parallel with the load must raise the overall power factor to 0.92 lagging. The real power stays the same. The capacitors are connected in Y. Find the capacitance Cph of each capacitor in µF.

P = 60 kWpf1 = 0.8pf2 = 0.92VL = 480 Vf = 60 Hz
Cph = µF
19.TransformersMedium
2400 V240 VIHV​ = ?ILV​250 kVA

A single-phase 250 kVA, 2400/240 V transformer operates at its rated load. Treat it as ideal. Find the current IHV in the high-voltage winding.

S = 250 kVAV1 = 2400 VV2 = 240 V
IHV = A
20.TransformersHard
200 kVA

A single-phase 200 kVA transformer has a core loss of 1000 W and a copper loss of 2000 W at rated load. At what load Sη,max, in kVA, is its efficiency highest?

S = 200 kVAPcore = 1000 WPcu,fl = 2000 W
Sη,max = kVA
21.Op-amp circuitsMedium
−+Vout​Rf​ = ?R1​ = 4.7 kΩVin​

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

R1 = 4.7 kΩAv = 10
Rf = kΩ
22.Op-amp circuitsHard
−+Vout​C = 0.22 µFVin​ = −1.7 VR = 47 kΩ

The integrator uses an ideal op-amp with ±15 V supplies; its output saturates at ±13 V. The capacitor is uncharged when a constant input Vin = −1.7 V is applied at t = 0. How long after t = 0 does the output reach saturation? Find t.

Vin = −1.7 VR = 47 kΩC = 0.22 µFVsat = ±13 V
t = ms
23.Diodes & transistorsMedium
RC​ = 5.6 kΩβ = 150RE​ = 1.5 kΩVCC​ = 15 VR1​ = 22 kΩR2​ = 4.7 kΩ

An NPN transistor with β = 150 has voltage-divider bias from VCC = 15 V: R₁ = 22 kΩ from VCC to the base and R₂ = 4.7 kΩ from the base to ground. The collector resistor is RC = 5.6 kΩ and the emitter resistor is RE = 1.5 kΩ. Take VBE = 0.7 V and use the Thévenin equivalent of the divider (do not neglect the base current). Find the collector–emitter voltage VCE.

VCC = 15 VR1 = 22 kΩR2 = 4.7 kΩRC = 5.6 kΩRE = 1.5 kΩβ = 150
VCE = V
24.Diodes & transistorsHard
RC​ = 100 Ωβ = 200VCC​ = 5 V5 VRB​ = ?

An NPN transistor with β = 200 switches a 100 Ω load resistor connected between VCC = 5 V and its collector. The emitter is grounded. The base is driven from a 5 V logic output through a base resistor RB. Take VBE = 0.7 V and VCE(sat) = 0.2 V. Find the largest base resistor RB, in kΩ, that still drives the transistor just into saturation.

VCC = 5 VRC = 100 Ωβ = 200Vin = 5 VVBE = 0.7 VVCE(sat) = 0.2 V
RB = kΩ
25.Number systemsMedium
8-bit two's complement0−12806403201608040201

Set the bits so they store −102 in 8-bit two's complement. Read as an unsigned number, what is the pattern's value U?

N = −1028 bit
U =
26.Number systemsHard
32 bit1 px1920 px1080 pxM = ? KiB

An uncompressed image is 1920 × 1080 pixels with 32 bits per pixel. How much memory M does it take, in KiB (1 KiB = 1024 bytes)?

1920 × 1080 px32 bit/px1 KiB = 1024 B
M = KiB
27.Digital logic: gates, K-maps & flip-flopsMedium
ABC000111100101324576

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

F = ABC + A′B′C + A′C′ + A′BC
L =
28.Digital logic: gates, K-maps & flip-flopsHard
DQ3​Q3​DQ2​Q2​DQ1​Q1​DQ0​Q0​CLKRING

A 4-bit ring counter Q₃Q₂Q₁Q₀ starts at 1000. At every clock edge the bits shift one place to the right (Q₃ → Q₂ → Q₁ → Q₀) and Q₃ receives Q₀. Give the state Q = Q₃Q₂Q₁Q₀ as a decimal number after 11 clock edges.

Q₃Q₂Q₁Q₀ = 100011
Q =
29.Laplace transformsMedium
ReIm−1−2−3−4−512

Find f(t) for F(s) = (5s + 24)/(s² + 4s + 8) by completing the square, and evaluate f(0.6).

F(s) = (5s + 24)/(s² + 4s + 8)t = 0.6 s
f(0.6) =
30.Laplace transformsHard
t (s)y(t)t = 0.2y(0.2) = ?

Solve y″ + 9y′ + 20y = 0 with y(0) = 3 and y′(0) = −11 using the Laplace transform, and find y(0.2).

y″ + 9y′ + 20y = 0y(0) = 3y′(0) = −11t = 0.2 s
y(0.2) =
31.Block diagramsMedium
R(s)+5(s + 6)(s + 2)(s + 5)G(s)C(s)−

A unity negative feedback loop has G(s) = 5(s + 6)/((s + 2)(s + 5)). A step of size 1 is applied at the reference. Find the steady-state error ess.

G(s) = 5(s + 6)/((s + 2)(s + 5))R = 1
ess =
32.Block diagramsHard
R(s)+26controller+D(s)+2s + 5plantC(s)−

A proportional controller K = 26 drives the plant G(s) = 2/(s + 5) in a unity negative feedback loop. A disturbance D enters at the plant input (it is added to the controller output). A reference step of size 5 and a disturbance step of size 0.5 are applied together. Find the steady-state output css.

K = 26G(s) = 2/(s + 5)D = 0.5R = 5
css =
33.Step responseMedium
t (s)y(t)2ts​ = ?

A system has the transfer function G(s) = 52/(s² + 2s + 26) and receives a unit step input. Find the 2 % settling time ts of the step response, using ts ≈ 4/(ζωₙ).

G(s) = 52/(s² + 2s + 26)
ts = s
34.Step responseHard
k = 100 N/mc = 27 N·s/mm = 20 kgF = 25 Nx(t)

A mass m = 20 kg hangs on a spring k = 100 N/m with a viscous damper c = 27 N·s/m (m·x″ + c·x′ + k·x = F). At rest in equilibrium, a constant force F = 25 N is suddenly applied. Find the damping ratio ζ.

m = 20 kgk = 100 N/mc = 27 N·s/mF = 25 N
ζ =
35.Bode plots & marginsMedium
vin​R = 4.7 kΩC = 2.2 nFvout​

The RC low-pass filter shown has R = 4.7 kΩ, C = 2.2 nF. A sinusoidal input of 46 kHz is applied. Find the phase shift φ of vout relative to vin, in degrees.

R = 4.7 kΩC = 2.2 nFf = 46 kHz
φ = °
36.Bode plots & marginsHard
|H| (dB)0.10.1111010100100−80−60−40−2002040ω (rad/s)φ (°)ω (rad/s)−270−180−900ω180​

A unity-feedback loop has the open-loop transfer function L(s) = 158/(s(s + 2)(s + 9)). Find the gain margin GM in dB.

L(s) = 158/(s(s + 2)(s + 9))
GM = dB
37.Stability: Routh–Hurwitz & root locusMedium
R(s)+K1(s + 2)(s + 4)(s + 6)C(s)−

A unity-feedback loop has L(s) = K/((s + 2)(s + 4)(s + 6)), with K > 0. Find the largest gain Kmax for which the closed loop is stable.

L(s) = K/((s + 2)(s + 4)(s + 6))
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(s)+K = 2011s + 1C(s)−

A process G(s) = 1/(1s + 1) is controlled by a proportional gain K = 20 in a unity-feedback loop. Find the steady-state error ess for a step, as a percentage of the step size.

G(s) = 1/(1s + 1)K = 20
ess = %
40.Steady-state error & PID controlHard
R(s)+K = 54s(s + 2)C(s)−

A proportional controller K = 5 drives the plant G(s) = 4/(s(s + 2)) in a unity-feedback loop. Find the peak time tp of the step response.

G(s) = 4/(s(s + 2))K = 5
tp = s

3Solutions

1.Series & parallel resistors

Answer: Req = 6.882 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​ = 3 ΩR3​ = 3 Ω+−V1​30 VR2​6 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 = 3 + 8 = 11 Ω
R2 ∥ 11 = 6·11/(6+11) = 3.882 Ω
Req = R1 + 3.882 = 3 + 3.882 = 6.882 Ω

Answer

Req = 6.882 Ω
2.Series & parallel resistors

Answer: Req = 18.1 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​ = 15 ΩR3​ = 2 ΩR5​ = 5 Ω+−V1​18 VR2​10 ΩAR4​3 ΩBR6​10 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 = 5 + 10 = 15 Ω
R4 ∥ 15 = 2.5 Ω
R3 + 2.5 = 4.5 Ω
R2 ∥ 4.5 = 3.103 Ω
Req = R1 + 3.103 = 15 + 3.103 = 18.1 Ω

Answer

Req = 18.1 Ω
3.Nodal analysis

Answer: PIs = 3.8 W

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

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

VA/R2 + (VA − V1)/R1 + (VA − VB)/R3 = 0
VA/10 + (VA − 15)/2 + (VA − VB)/8 = 0
0.725·VA − 0.125·VB = 7.5

KCL at node B

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

VB/R4 + (VB − VA)/R3 = Is
VB/2 + (VB − VA)/8 = 1
−0.125·VA + 0.625·VB = 1

Solve

Δ = (0.725)(0.625) − (−0.125)(−0.125) = 0.4375
VA = Δ1/Δ = 4.813/0.4375 = 11 V
VB = Δ2/Δ = 1.663/0.4375 = 3.8 V

Power delivered by the current source

The source pushes Iₛ up into node B, from ground (0 V) to VB. A source whose current leaves its + end delivers P = V·I.

PIs = VB·Is = 3.8·1 = 3.8 W

Answer

PIs = 3.8 W
4.Nodal analysis

Answer: VA = 16.9 V

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

Form a supernode

The voltage source between A and B carries an unknown current, so KCL cannot be written at A or B separately. Enclose A, B and the source in one supernode: the current entering it equals the current leaving it.

VB = VA − 12
(VA − V1)/R1 + VA/R2 + VB/R3 = Is

Solve

(VA − 18)/4 + VA/8 + (VA − 12)/30 = 2
VA·(1/4 + 1/8 + 1/30) = 2 + 18/4 + 12/30 = 6.9
VA = 6.9/0.4083 = 16.9 V
VB = 4.898 V

Answer

VA = 16.9 V
5.Mesh analysis

Answer: VR1 = 3 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​ = 15 ΩR2​ = 15 Ω+−V1​9 VR3​10 ΩA+−V2​12 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
15·I1 + 10(I1 − I2) = 9
25·I1 − 10·I2 = 9

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
15·I2 + 10(I2 − I1) = (−12)
−10·I1 + 25·I2 = −12

Solve

Δ = (25)(25) − (−10)(−10) = 525
I1 = Δ1/Δ = 105/525 = 0.2 A
I2 = Δ2/Δ = −210/525 = −0.4 A

Answer

IR1 = I1 = 0.2 A
VR1 = IR1·R1 = 0.2·15 = 3 V

A negative mesh current flows anticlockwise.

6.Mesh analysis

Answer: VR1 = 3.326 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​ = 30 ΩR2​ = 6 ΩR3​ = 25 Ω+−V1​6 VR4​4 ΩAR5​15 ΩB+−V2​30 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
30·I1 + 4(I1 − I2) = 6
34·I1 − 4·I2 = 6

KVL around mesh 2

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

R2·I2 + R4(I2 − I1) + R5(I2 − I3) = 0
6·I2 + 4(I2 − I1) + 15(I2 − I3) = 0
−4·I1 + 25·I2 − 15·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
25·I3 + 15(I3 − I2) = (−30)
−15·I2 + 40·I3 = −30

Solve

Δ = det of the coefficient matrix = 25710
I1 = Δ1/Δ = 2850/25710 = 0.1109 A
I2 = Δ2/Δ = −14340/25710 = −0.5578 A
I3 = Δ3/Δ = −24660/25710 = −0.9592 A

Answer

IR1 = I1 = 0.1109 A
VR1 = IR1·R1 = 0.1109·30 = 3.326 V

A negative mesh current flows anticlockwise.

7.Superposition

Answer: IR3 = −0.4898 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​ = 4 Ω+−V1​9 VR2​12 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 = 4+4 = 8 Ω
R2 ∥ (R3+R4) = 12·8/(12+8) = 4.8 Ω
VA = 9·4.8/(5+4.8) = 4.408 V
VB = VA·R4/(R3+R4) = 4.408·4/8 = 2.204 V
IR3′ = (VA − VB)/R3 = (4.408 − 2.204)/4 = 0.551 A
R1​ = 5 ΩR3​ = 4 ΩSHORTR2​12 ΩAR4​4 ΩBIs​3 A

Case 2 · Is acting alone

V₁ becomes a short, so R₁ is in parallel with R₂. Iₛ splits at B between R₄ and the path through R₃.

R1 ∥ R2 = 5·12/(5+12) = 3.529 Ω
Req = R4 ∥ (R3+R1∥R2) = 4 ∥ 7.529 = 2.612 Ω
VB = Is·Req = 3·2.612 = 7.837 V
VA = VB·(R1∥R2)/(R3+R1∥R2) = 7.837·3.529/7.529 = 3.673 V
IR3″ = (VA − VB)/R3 = (3.673 − 7.837)/4 = −1.041 A

Add the contributions

IR3 = IR3′ + IR3″
IR3 = 0.551 + (−1.041) = −0.4898 A

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

8.Superposition

Answer: PR4 = 1.45 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​ = 20 ΩR2​ = 8 ΩR4​ = 20 Ω+−V1​15 VR3​10 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) = 10 ∥ 28 = 7.368 Ω
VA = 15·7.368/(20+7.368) = 4.038 V
VB = VA·R4/(R2+R4) = 4.038·20/28 = 2.885 V
IR4′ = (VB − V2)/R4 = (2.885 − 0)/20 = 0.1442 A
R1​ = 20 ΩR2​ = 8 ΩR4​ = 20 ΩSHORTR3​10 ΩAIs​2 ABSHORT

Case 2 · Is acting alone

Both voltage sources become shorts. Iₛ splits at B between R₄ (now to ground) and R₂ in series with R₁ ∥ R₃. 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 = 6.667 Ω, so the left path is R2+6.667 = 14.67 Ω
Req = R4 ∥ 14.67 = 8.462 Ω
VB = −Is·Req = −2·8.462 = −16.92 V
VA = VB·6.667/14.67 = −7.692 V
IR4″ = (VB − V2)/R4 = (−16.92 − 0)/20 = −0.8462 A
R1​ = 20 ΩR2​ = 8 ΩR4​ = 20 ΩSHORTR3​10 ΩAOPENB−+V2​15 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 = 20·10/(20+10) = 6.667 Ω
VB = V2·(R2+R1∥R3)/(R4+R2+R1∥R3) = (−15)·14.67/34.67 = −6.346 V
VA = VB·(R1∥R3)/(R2+R1∥R3) = −6.346·6.667/14.67 = −2.885 V
IR4‴ = (VB − V2)/R4 = (−6.346 − −15)/20 = 0.4327 A

Add the current contributions

IR4 = IR4′ + IR4″ + IR4‴ = 0.1442 + (−0.8462) + 0.4327 = −0.2692 A

Power in the resistor

Power depends on the square of the current, so it does not obey superposition: add the currents first, then square.

PR4 = IR4²·R4 = (−0.2692)²·20 = 1.45 W

Answer

PR4 = 1.45 W

Adding the powers of the separate cases would give 18.48 W, which is wrong.

9.Thévenin & Norton

Answer: Vth = 3.846 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​ = 8 ΩR3​ = 20 ΩSHORTR2​5 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 = 8·5/(8+5) = 3.077 Ω
Rth = (R1 ∥ R2) + R3 = 3.077 + 20 = 23.08 Ω
R1​ = 8 ΩR3​ = 20 Ω+−V1​10 VR2​5 ΩAab+−Vth​

Find Vth, the open-circuit voltage

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

Vth = V1·R2/(R1+R2) = 10·5/(8+5) = 3.846 V
10.Thévenin & Norton

Answer: PL = 47.47 W

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​ = 2 ΩR3​ = 6 ΩSHORTR2​4 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 = 2·4/(2+4) = 1.333 Ω
Rth = (R1 ∥ R2) + R3 = 1.333 + 6 = 7.333 Ω
R1​ = 2 ΩR3​ = 6 Ω+−V1​24 VR2​4 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) = 16 + 3·1.333 = 20 V
Vth = VB = VA + Is·R3 = 20 + 3·6 = 38 V
Rth​ = 7.333 Ω+−Vth​38 VRL​5 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) = 38/(7.333 + 5) = 3.081 A
PL = IL²·RL = 3.081²·5 = 47.47 W
11.RC & RL transients

Answer: vL = 5.518 V

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

Time constant and final current

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

τ = L/R = 22 mH / 22 Ω = 1 ms
i(∞) = Vs/R = 15/22 = 0.6818 A

Inductor voltage

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

vL(t) = Vs·e−t/τ = 15·e−1/1 = 5.518 V

Answer

vL = 5.518 V
12.RC & RL transients

Answer: t = 1.621 ms

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

Initial value, final value, time constant

Before t = 0 both resistors are in the loop; afterwards the closed switch bypasses R₂.

i(0) = 12/(20 + 15) = 0.3429 A
i(∞) = 12/20 = 0.6 A
τ = L/R = 47/20 = 2.35 ms
i(t) = 0.6 + (0.3429 − 0.6)·e−t/τ

Solve for the time

e−t/τ = (0.471 − 0.6)/(0.3429 − 0.6) = 0.5017
t = 2.35·ln(1.993) = 1.621 ms

Answer

t = 1.621 ms
13.AC impedance & phasors

Answer: φ = 74.18 °

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·100 = 628.3 rad/s
XL = ωL = 628.3·0.25 = 157.1 Ω
XC = 1/(ωC) = 1/(628.3·100·10⁻⁶) = 15.92 Ω

Impedance

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

|Z| = √(R² + (XL − XC)²) = √(40² + (141.2)²) = 146.7 Ω

Phase angle

φ = arctan((XL − XC)/R) = arctan(141.2/40) = 74.18°

Answer

φ = 74.18°
14.AC impedance & phasors

Answer: I = 0.3512 A

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

Reactance

XC = 1/(2π·50·100·10⁻⁶) = 31.83 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 = 15.51 − j19.49 Ω

Total impedance

Z = 50 + 15.51 − j19.49 = 65.51 − j19.49 Ω
|Z| = √(65.51² + 19.49²) = 68.35 Ω

Current

I = V/|Z| = 24/68.35 = 0.3512 A

Answer

I = 0.3512 A
15.AC power & power factor

Answer: Q = 22.44 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(0.7) = 45.57°, tan φ = 1.02

Reactive power

Q = P·tan φ = 22·1.02 = 22.44 kvar

Answer

Q = 22.44 kvar
16.AC power & power factor

Answer: I = 50.17 A

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

Reactive power before and after

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

Q1 = 14·tan(arccos 0.65) = 16.37 kvar
QC = V²·2πf·C = 400²·2π·60·33·10⁻⁶ = 1991 var = 1.991 kvar
Q2 = 16.37 − 1.991 = 14.38 kvar

New apparent power

S2 = √(14² + 14.38²) = 20.07 kVA

New line current

I = S2/V = 20068/400 = 50.17 A

Answer

I = 50.17 A
17.Three-phase power

Answer: P = 37.95 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 = √3·415·60 = 43.13 kVA

Real power

P = S·cos φ = 43.13·0.88 = 37.95 kW

Answer

P = 37.95 kW
18.Three-phase power

Answer: Cph = 223.8 µF

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

Reactive power before and after

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

Q1 = 60·tan(acos 0.8) = 60·0.75 = 45 kvar
Q2 = 60·tan(acos 0.92) = 60·0.426 = 25.56 kvar

Reactive power from the capacitors

QC = Q1 − Q2 = 19.44 kvar

Capacitance per phase

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

V = 480/√3 = 277.1 V, ω = 2π·60 = 377 rad/s
Cph = (QC/3)/(ω·V²) = 6480/(377·277.1²) = 223.8 µF

Answer

Cph = 223.8 µF
19.Transformers

Answer: IHV = 104.2 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 = 250000/2400 = 104.2 A

Answer

IHV = 104.2 A
20.Transformers

Answer: Sη,max = 141.4 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

x²·2000 = 1000 → x = √(1000/2000) = 0.7071

Load at maximum efficiency

Sη,max = x·S = 0.7071·200 = 141.4 kVA

Answer

Sη,max = 141.4 kVA
21.Op-amp circuits

Answer: Rf = 42.3 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)·4.7 = 42.3 kΩ

Answer

Rf = 42.3 kΩ
22.Op-amp circuits

Answer: t = 79.07 ms

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 = 47 kΩ · 0.22 µF = 10.34 ms
ramp rate = −Vin/(RC) = −(−1.7)/10.34 = 0.1644 V/ms

Time to saturation

|Vin|·t/(RC) = Vsat → t = Vsat·RC/|Vin| = 13·10.34/1.7 = 79.07 ms

Answer

t = 79.07 ms
23.Diodes & transistors

Answer: VCE = 6.017 V

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

Thévenin equivalent of the divider

VTH = 15·4.7/(22 + 4.7) = 2.64 V
RTH = 22·4.7/(22 + 4.7) = 3.873 kΩ

Base current

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

IB = (2.64 − 0.7)/(3.873 + 151·1.5) = 8.423 µA

Collector current

IC = 150·8.423 µA = 1.263 mA
IE = 151·8.423 µA = 1.272 mA

Collector–emitter voltage

VCE = 15 − 1.263·5.6 − 1.272·1.5 = 6.017 V

Answer

VCE = 6.017 V
24.Diodes & transistors

Answer: RB = 17.92 kΩ

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

Collector current in saturation

IC(sat) = (5 − 0.2)/100 = 48 mA

Minimum base current

IB(min) = IC(sat)/β = 48/200 = 240 µA

Base resistor

RB = (5 − 0.7)/IB = 4.3 V/0.24 mA = 17.92 kΩ

Answer

RB = 17.92 kΩ

Any smaller base resistor also saturates the transistor; in practice you pick one a few times smaller.

25.Number systems

Answer: U = 154

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

102 = 0110 0110
inverted: 1001 1001
+1 → 1001 1010

Read it as unsigned

1001 1010₂ = 256 − 102 = 154

Answer

U = 154
26.Number systems

Answer: M = 8100 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

1920·1080·32 = 66355200 bit = 8294400 B

Convert to KiB

8294400/1024 = 8100 KiB

Answer

M = 8100 KiB
27.Digital logic: gates, K-maps & flip-flops

Answer: L = 3

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

Minterms of the expression

ABC → m(7)
A′B′C → m(1)
A′C′ → m(0, 2)
A′BC → m(3)
ABC00011110011011131204051706

Group and read off

F = BC + A′

Count the literals

L = 3

Answer

L = 3
28.Digital logic: gates, K-maps & flip-flops

Answer: Q = 1

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.

State after every edge

1000 → 0100 → 0010 → 0001 → 1000 → 0100 → 0010 → 0001 → 1000 → 0100 → 0010 → 0001

Decimal value

0001₂ = 1

Answer

Q = 1
29.Laplace transforms

Answer: f(0.6) = 2.511

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

Complete the square

s² + 4s + 8 = (s + 2)² + 4 = (s + 2)² + 2²

Match the numerator

F(s) = 5·(s + 2)/((s + 2)² + 2²) + (14/2)·2/((s + 2)² + 2²)

Inverse transform

f(t) = e−2t·(5·cos 2t + 7·sin 2t)
f(0.6) = e−2·0.6·(5·cos(2·0.6) + 7·sin(2·0.6)) = 2.511

Answer

f(0.6) = 2.511
30.Laplace transforms

Answer: y(0.2) = 1.429

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

Transform the equation

s²Y − 3s − (−11) + 9(sY − 3) + 20Y = 0
Y(s) = (3s + 16)/((s + 4)(s + 5))

Partial fractions

A = 4/1 = 4
B = 1/(−1) = −1

Result

y(t) = 4·e−4t − e−5t
y(0.2) = 1.429

Answer

y(0.2) = 1.429

Check: y(0) = A + B = 3.

31.Block diagrams

Answer: ess = 0.25

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).

Position error constant

Kₚ = G(0) = 5·6/(2·5) = 3

Steady-state error

ess = A/(1 + Kₚ) = 1/(1 + 3) = 0.25

Answer

ess = 0.25
32.Block diagrams

Answer: css = 4.579

Block-diagram algebra: blocks in series multiply (G₁·G₂), blocks in parallel add (G₁ + G₂), and a loop with forward path G and feedback path H reduces to T = G/(1 + G·H) for negative feedback and G/(1 − G·H) for positive feedback. Reduce inner loops first, then work outwards. The closed-loop poles are the roots of the characteristic equation 1 + G(s)H(s) = 0. For a stable loop, a step input of size A gives the steady-state output A·T(0); with unity feedback the steady-state error to a step is A/(1 + Kp) with Kp = G(0).

Transfer functions

C/D = G/(1 + K·G) = 2/(s + 5 + 52)
C/R = K·G/(1 + K·G) = 52/(s + 5 + 52)

Steady state

css = 5·52/57 + 0.5·2/57 = 4.579

Answer

css = 4.579

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

33.Step response

Answer: ts = 4 s

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

Compare with the standard form

The denominator must match s² + 2ζωₙs + ωₙ².

ωₙ² = 26 → ωₙ = 5.099 rad/s
2ζωₙ = 2 → ζ = 2/(2·5.099) = 0.1961

Result

ζωₙ = 1 → ts ≈ 4/1 = 4 s

Answer

ts = 4 s
34.Step response

Answer: ζ = 0.3019

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

Natural frequency and damping ratio

ωₙ = √(k/m) = √(100/20) = 2.236 rad/s
ζ = c/(2√(km)) = 27/(2·√(100·20)) = 0.3019

Result

ζ = 0.3019

Answer

ζ = 0.3019
35.Bode plots & margins

Answer: φ = −71.5 °

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

Corner frequency

ωc = 1/(RC) = 1/(4700·2.2 × 10⁻⁹) = 96712 rad/s
fc = 15392 Hz → f/fc = 46000/15392 = 2.989

Phase

φ = − atan(2.989) = −71.5°

Answer

φ = −71.5°
36.Bode plots & margins

Answer: GM = 1.96 dB

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

Phase crossover

(ω/2)·(ω/9) = 1 → ω180 = √(2·9) = 4.243 rad/s

Magnitude at phase crossover

|L(jω180)| = K/(ω·√(ω² + 4)·√(ω² + 81)) = K/(2·9·(2 + 9)) = K/198

Gain margin

GM = 20·log₁₀(198/158) = 1.96 dB

Answer

GM = 1.96 dB
37.Stability: Routh–Hurwitz & root locus

Answer: Kmax = 480

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

Characteristic polynomial

s³ + 12s² + 44s + 48 + K = 0

Routh array

s³: 1, 44
s²: 12, 48 + K
s¹: (12·44 − 48 − K)/12
s⁰: 48 + K

Condition

The s¹ entry must stay positive.

K < 12·44 − 48 = 480

Answer

Kmax = 480

At the limit the loop oscillates at ω = √44 = 6.633 rad/s.

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 = 4.762 %

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.

Position constant

Kp = 20·1 = 20

Step error

ess = 100/(1 + 20) = 4.762 %

Answer

ess = 4.762 %
40.Steady-state error & PID control

Answer: tp = 0.7207 s

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

Characteristic polynomial

s(s + 2) + 5·4 = s² + 2s + 20

ωₙ and ζ

ωₙ = √20 = 4.472 rad/s
ζ = 2/(2·4.472) = 0.2236

Peak time

ωd = 4.472·√(1 − 0.2236²) = 4.359 rad/s
tp = π/4.359 = 0.7207 s

Answer

tp = 0.7207 s

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