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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
Start at the end of the network furthest from the terminals.
Combine resistors in series by adding them, and resistors in parallel with 1/R = 1/R₁ + 1/R₂ + …
Redraw the circuit after each step.
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
Choose a reference node (ground) and label the other node voltages.
Write Kirchhoff’s current law at every unknown node: currents leaving through each branch equal the currents entering.
Express every branch current as (Va − Vb)/R.
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
Draw a clockwise current in every mesh (window) of the circuit.
Apply Kirchhoff’s voltage law around each mesh: the sum of voltage drops is zero.
In a resistor shared by two meshes the current is the difference of the two mesh currents.
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
Count the independent sources. You will solve one simpler circuit per source.
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).
Solve the simpler circuit for the voltage or current you need, keeping track of its direction.
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
Remove the load and mark the two terminals a and b.
Find the open-circuit voltage between a and b: this is Vth.
Switch off all independent sources and find the resistance seen from a–b: this is Rth.
Put the load back on the equivalent circuit: Vth in series with Rth.
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
Find the initial value just after switching: a capacitor voltage and an inductor current cannot jump.
Find the final value long after switching: a capacitor acts as an open circuit, an inductor as a short circuit.
Find the time constant: τ = RC or τ = L/R, using the resistance seen by the capacitor or inductor.
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
Convert the frequency: ω = 2πf.
Find each reactance: XL = ωL and XC = 1/(ωC).
Add impedances like resistors, with Z = R + jX.
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
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.
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.
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.
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
Write the closed-loop characteristic polynomial: the denominator of 1 + K·G(s) = 0, multiplied out.
Put the coefficients alternately into the first two rows of the Routh array and build the remaining rows.
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.
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
Count the poles of the open loop C(s)·G(s) at s = 0: that is the system type.
Work out the error constant that matches the input: Kp for a step, Kv for a ramp, Ka for a parabola.
Apply ess = A/(1 + Kp), A/Kv or A/Ka, or solve it for the gain you need.
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
Find the equivalent resistance Req seen by the source V1.
V1 = 24 VR1 = 4 ΩR2 = 2 ΩR3 = 8 ΩR4 = 6 Ω
Req = Ω
2.Series & parallel resistorsHard
Find the equivalent resistance Req seen by the source V1.
The diamond is a voltage-controlled current source that pushes a current of 0.4·VA (in A, with VA in V) up into node B. Use nodal analysis to find the node voltage VB (measured from ground).
The inductor carries no current before the switch closes at t = 0. Find the voltage vL across the inductor at t = 5 ms.
Vs = 20 VR = 15 ΩL = 100 mHt = 5 ms
vL = V
12.RC & RL transientsHard
Just before the switch closes at t = 0, the capacitor holds 5 V with the polarity shown. Find the capacitor voltage vC at t = 80 ms.
Vs = 12 VR = 2.2 kΩC = 100 µFvC(0) = 5 Vt = 80 ms
vC = V
13.AC impedance & phasorsMedium
A series RLC circuit is connected to a 120 V (rms), 100 Hz supply. Find the rms current I.
V = 120 V (rms)f = 100 HzR = 10 ΩL = 20 mHC = 10 µF
I = A
14.AC impedance & phasorsHard
A series RLC circuit is driven by a 1 V (rms) source whose frequency is set to the resonant frequency of the circuit. Find the rms voltage VL across the inductor.
V = 1 V (rms)R = 50 ΩL = 100 mHC = 0.1 µF
VL = V
15.AC power & power factorMedium
An inductive load takes 13 A and 1248 W from a 120 V (rms) single-phase supply. Model it as a resistance R in series with a reactance X. Find R.
V = 120 VI = 13 AP = 1248 W
R = Ω
16.AC power & power factorHard
A single-phase load takes 45 kW at a power factor of 0.7 lagging from a 240 V, 50 Hz supply. A capacitor connected in parallel raises the power factor to 0.92. Find the new line current Inew.
P = 45 kWpf1 = 0.7pf2 = 0.92V = 240 Vf = 50 Hz
Inew = A
17.Three-phase powerMedium
A three-phase induction motor delivers 15 kW of mechanical output power at full load. At this load its efficiency is 91% and its power factor is 0.9 lagging. The supply has a line-to-line voltage of 400 V. Find the line current IL.
Pout = 15 kWη = 91%cos φ = 0.9VL = 400 V
IL = A
18.Three-phase powerHard
A balanced three-phase load takes 100 kW at a power factor of 0.75 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 0.92 lagging. The real power stays the same. The capacitors are connected in Δ. Find the capacitance Cph of each capacitor in µF.
P = 100 kWpf1 = 0.75pf2 = 0.92VL = 415 Vf = 50 Hz
Cph = µF
19.TransformersMedium
An ideal transformer with a turns ratio N₁:N₂ = 10:1 has 2400 V applied to its primary winding. A 20 Ω resistor is connected across the secondary winding. Find the primary current I1.
N1:N2 = 10:1V1 = 2400 VRL = 20 Ω
I1 = A
20.TransformersHard
A single-phase 50 kVA transformer has a core loss of 150 W and a copper loss of 375 W at rated load. At what load Sη,max, in kVA, is its efficiency highest?
S = 50 kVAPcore = 150 WPcu,fl = 375 W
Sη,max = kVA
21.Op-amp circuitsMedium
The op-amp is ideal and runs from ±15 V supplies. Find the output voltage Vout.
An NPN transistor with β = 100 has voltage-divider bias from VCC = 18 V: R₁ = 56 kΩ from VCC to the base and R₂ = 22 kΩ from the base to ground. The collector resistor is RC = 2.2 kΩ and the emitter resistor is RE = 2.2 kΩ. Take VBE = 0.7 V and use the Thévenin equivalent of the divider (do not neglect the base current). Find the collector current IC in mA.
A 12 V Zener regulator must supply up to 25 mA to a load. The input can drop to 20 V, and the Zener needs at least 1 mA to regulate. Find the largest series resistance Rmax that keeps it regulating.
Simplify F = AC′ + A′B′C′ + AB′C to its minimal sum-of-products form. How many literals L does the simplified expression contain?
F = AC′ + A′B′C′ + AB′C
L =
28.Digital logic: gates, K-maps & flip-flopsHard
A ring counter is made of 3 D flip-flops with the last output fed back to the first input, and starts with a single 1. How many different states N does it go through?
n = 3
N =
29.Laplace transformsMedium
Find f(t) for F(s) = (4s + 29)/(s² + 4s + 8) by completing the square, and evaluate f(0.3).
F(s) = (4s + 29)/(s² + 4s + 8)t = 0.3 s
f(0.3) =
30.Laplace transformsHard
Solve y″ + 6y′ + 5y = 0 with y(0) = 7 and y′(0) = −13 using the Laplace transform, and find y(1.2).
y″ + 6y′ + 5y = 0y(0) = 7y′(0) = −13t = 1.2 s
y(1.2) =
31.Block diagramsMedium
The plant G(s) = 2/(s + 1) has an inner (minor) negative feedback loop with gain H₁ = 0.5. A controller gain K = 20 and an outer unity negative feedback loop close the system. Find the closed-loop DC gain T(0).
G(s) = 2/(s + 1)H₁ = 0.5K = 20
T(0) =
32.Block diagramsHard
A proportional controller K = 26 drives the plant G(s) = 5/(s + 4) in a unity negative feedback loop. A disturbance D enters at the plant input (it is added to the controller output). With R = 0, a disturbance step of size 10 is applied. Find the steady-state output css.
K = 26G(s) = 5/(s + 4)D = 10R = 0
css =
33.Step responseMedium
A system has the transfer function G(s) = 26/(s² + 5s + 52) and receives a unit step input. Find the peak time tp of the step response.
G(s) = 26/(s² + 5s + 52)
tp = s
34.Step responseHard
A unity negative feedback loop has G(s) = K/(s(s + 4)). Find the gain K that gives a step response with 5 % overshoot.
G(s) = K/(s(s + 4))%OS = 5 %
K =
35.Bode plots & marginsMedium
In the series RLC band-pass filter shown the output is taken across R = 1 Ω, with L = 5 mH and C = 2.2 µF. Find the quality factor Q.
R = 1 ΩL = 5 mHC = 2.2 µF
Q =
36.Bode plots & marginsHard
A unity-feedback loop has the open-loop transfer function L(s) = 36/(s(s + 4)). Find the phase margin PM in degrees.
L(s) = 36/(s(s + 4))
PM = °
37.Stability: Routh–Hurwitz & root locusMedium
The loop in the diagram has the open-loop transfer function L(s) = K/(s(s + 1)(s + 8)). Find the largest gain Kmax for which the closed loop is stable.
L(s) = K/(s(s + 1)(s + 8))
Kmax =
38.Stability: Routh–Hurwitz & root locusHard
The root locus of L(s) = K/(s(s + 8)) is shown. Find the gain K for which the closed-loop poles have the damping ratio ζ = 0.8.
L(s) = K/(s(s + 8))ζ = 0.8
K =
39.Steady-state error & PID controlMedium
A ramp r(t) = 4t is applied to a unity-feedback loop with G(s) = 4/(s(s + 2)). Find the steady-state error ess.
G(s) = 4/(s(s + 2))r(t) = 4t
ess =
40.Steady-state error & PID controlHard
A proportional controller K drives the plant G(s) = 5/(s(s + 4)) in a unity-feedback loop. Find the gain K that gives the closed loop a damping ratio ζ = 0.5.
G(s) = 5/(s(s + 4))ζ = 0.5
K =
3Solutions
1.Series & parallel resistors
Answer: Req = 5.75 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.
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 = 8 + 6 = 14 Ω
R2 ∥ 14 = 2·14/(2+14) = 1.75 Ω
Req = R1 + 1.75 = 4 + 1.75 = 5.75 Ω
Answer
Req = 5.75 Ω
2.Series & parallel resistors
Answer: Req = 17.6 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.
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 = 15 + 20 = 35 Ω
R4 ∥ 35 = 1.892 Ω
R3 + 1.892 = 6.892 Ω
R2 ∥ 6.892 = 5.604 Ω
Req = R1 + 5.604 = 12 + 5.604 = 17.6 Ω
Answer
Req = 17.6 Ω
3.Nodal analysis
Answer: VB = 16.64 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.
Set up the nodes
Ground is the bottom wire. Known node voltages come straight from the sources (V1 = 30 V). Unknowns: VA, VB.
KCL at node A
Currents leaving A through the resistors equal the current pushed into A by sources.
VA/R2 + (VA − V1)/R1 + (VA − VB)/R3 = 0
VA/20 + (VA − 30)/2 + (VA − VB)/4 = 0
0.8·VA − 0.25·VB = 15
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/5 + (VB − VA)/4 = 1.5
−0.25·VA + 0.45·VB = 1.5
Solve
Δ = (0.8)(0.45) − (−0.25)(−0.25) = 0.2975
VA = Δ1/Δ = 7.125/0.2975 = 23.95 V
VB = Δ2/Δ = 4.95/0.2975 = 16.64 V
Answer
VB = 16.64 V
4.Nodal analysis
Answer: VB = 45.66 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.
KCL at node A
Currents leaving A through the resistors equal the current pushed into A by sources.
(VA − V1)/R1 + VA/R2 + (VA − VB)/R3 = 0
VA − 0.25·VB = 12
KCL at node B
The dependent source pushes g·VA into node B. Treat it like an independent source, then move the VA term to the left-hand side.
(VB − VA)/R3 + VB/R4 = 0.4·VA
−0.65·VA + 0.3333·VB = 0
Solve
Δ = (1)(0.3333) − (−0.25)(−0.65) = 0.1708
VA = Δ1/Δ = 4/0.1708 = 23.41 V
VB = Δ2/Δ = 7.8/0.1708 = 45.66 V
Answer
VB = 45.66 V
5.Mesh analysis
Answer: IR3 = 0.7727 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.
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
6·I1 + 20(I1 − I2) = 15
26·I1 − 20·I2 = 15
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 + 20(I2 − I1) = (−18)
−20·I1 + 23·I2 = −18
Solve
Δ = (26)(23) − (−20)(−20) = 198
I1 = Δ1/Δ = −15/198 = −0.07576 A
I2 = Δ2/Δ = −168/198 = −0.8485 A
Answer
IR3 = I1 − I2 = 0.7727 A
A negative mesh current flows anticlockwise.
6.Mesh analysis
Answer: IR3 = −0.2784 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.
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
2·I1 + 12(I1 − I2) = 5
14·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
8·I2 + 12(I2 − I1) + 3(I2 − I3) = 0
−12·I1 + 23·I2 − 3·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
30·I3 + 3(I3 − I2) = (−10)
−3·I2 + 33·I3 = −10
Solve
Δ = det of the coefficient matrix = 5748
I1 = Δ1/Δ = 3390/5748 = 0.5898 A
I2 = Δ2/Δ = 1560/5748 = 0.2714 A
I3 = Δ3/Δ = −1600/5748 = −0.2784 A
Answer
IR3 = I3 = −0.2784 A
A negative mesh current flows anticlockwise.
7.Superposition
Answer: Is = 0.8571 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.
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.
V₁ becomes a short, so R₁ ∥ R₂ hangs from A to ground. Iₛ splits at B between R₄ and the path R₃ + R₁∥R₂; the part through R₃ flows from B to A, against the arrow.
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.
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 ∥ 27 = 7.297 Ω
VA = 10·7.297/(5+7.297) = 5.934 V
VB = VA·R4/(R2+R4) = 5.934·12/27 = 2.637 V
IR4′ = (VB − V2)/R4 = (2.637 − 0)/12 = 0.2198 A
Case 2 · Is acting alone
Both voltage sources become shorts. Iₛ splits at B between R₄ (now to ground) and R₂ in series with R₁ ∥ R₃.
R1 ∥ R3 = 3.333 Ω, so the left path is R2+3.333 = 18.33 Ω
Req = R4 ∥ 18.33 = 7.253 Ω
VB = Is·Req = (−4)·7.253 = −29.01 V
VA = VB·3.333/18.33 = −5.275 V
IR4″ = (VB − V2)/R4 = (−29.01 − 0)/12 = −2.418 A
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 = 5·10/(5+10) = 3.333 Ω
VB = V2·(R2+R1∥R3)/(R4+R2+R1∥R3) = 9·18.33/30.33 = 5.44 V
VA = VB·(R1∥R3)/(R2+R1∥R3) = 5.44·3.333/18.33 = 0.989 V
IR4‴ = (VB − V2)/R4 = (5.44 − 9)/12 = −0.2967 A
Add the contributions
IR4 = IR4′ + IR4″ + IR4‴
IR4 = 0.2198 + (−2.418) + (−0.2967) = −2.495 A
A negative result means the real current flows against the arrow.
9.Thévenin & Norton
Answer: Vth = 8.182 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.
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 = 12·10/(12+10) = 5.455 Ω
Rth = (R1 ∥ R2) + R3 = 5.455 + 6 = 11.45 Ω
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) = 18·10/(12+10) = 8.182 V
10.Thévenin & Norton
Answer: IL = −0.7143 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.
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 = 12·15/(12+15) = 6.667 Ω
Rth = (R1 ∥ R2) + R3 = 6.667 + 4 = 10.67 Ω
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) = 8.333 + (−2.5)·6.667 = −8.333 V
Vth = VB = VA + Is·R3 = −8.333 + (−2.5)·4 = −18.33 V
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) = −18.33/(10.67 + 15) = −0.7143 A
11.RC & RL transients
Answer: vL = 9.447 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 = 100 mH / 15 Ω = 6.667 ms
i(∞) = Vs/R = 20/15 = 1.333 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 = 20·e−5/6.667 = 9.447 V
Answer
vL = 9.447 V
12.RC & RL transients
Answer: vC = 7.134 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) = 5 V, vC(∞) = Vs = 12 V
τ = R·C = 2.2 kΩ · 100 µF = 220 ms
vC(t) = 12 + (5 − 12)·e−t/τ
Voltage at the given time
vC(80) = 12 + (−7)·e−80/220 = 7.134 V
Answer
vC = 7.134 V
13.AC impedance & phasors
Answer: I = 0.8167 A
AC circuits with phasors: resistors, inductors and capacitors have impedances R, jωL and 1/(jωC), with ω = 2πf. In series, impedances add like resistances, but as complex numbers. Rms current and voltage follow Ohm’s law with |Z|.
Reactances
ω = 2πf = 2π·100 = 628.3 rad/s
XL = ωL = 628.3·0.02 = 12.57 Ω
XC = 1/(ωC) = 1/(628.3·10·10⁻⁶) = 159.2 Ω
Impedance
In series the impedances add as complex numbers: Z = R + j(XL − XC).
The same current flows through every element of a series circuit.
I = V/|Z| = 120/146.9 = 0.8167 A
Answer
I = 0.8167 A
14.AC impedance & phasors
Answer: VL = 20 V
AC circuits with phasors: resistors, inductors and capacitors have impedances R, jωL and 1/(jωC), with ω = 2πf. In series, impedances add like resistances, but as complex numbers. Rms current and voltage follow Ohm’s law with |Z|.
Resonance
At resonance the reactances cancel, so the impedance is just R.
ω₀ = 1/√(LC) = 1/√(0.1·0.1·10⁻⁶) = 10000 rad/s
I = V/R = 1/50 = 0.02 A
Voltage across the inductor
XL = ω₀L = 10000·0.1 = 1000 Ω
VL = I·XL = 0.02·1000 = 20 V
Answer
VL = 20 V
This is Q = 20 times the supply voltage.
15.AC power & power factor
Answer: R = 7.385 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 = 1248/13² = 7.385 Ω
Answer
R = 7.385 Ω
16.AC power & power factor
Answer: Inew = 203.8 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 = P·tan φ1 = 45·tan(45.57°) = 45.91 kvar
Q2 = P·tan φ2 = 45·tan(23.07°) = 19.17 kvar
QC = Q1 − Q2 = 26.74 kvar
New line current
Inew = P/(V·cos φ2) = 45000/(240·0.92) = 203.8 A
Answer
Inew = 203.8 A
17.Three-phase power
Answer: IL = 26.44 A
Balanced three-phase systems: in a Y (star) connection the line-to-line voltage is √3 times the phase voltage, VL = √3·Vph, and the line current equals the phase current. In a Δ (delta) connection the line-to-line voltage equals the phase voltage and the line current is √3 times the phase current, IL = √3·Iph. The total power is three times the power of one phase: P = 3·Vph·Iph·cos φ = √3·VL·IL·cos φ.
Electrical input power
Pin = Pout/η = 15/0.91 = 16.48 kW
Line current
IL = Pin/(√3·VL·cos φ) = 16484/(√3·400·0.9) = 26.44 A
Answer
IL = 26.44 A
18.Three-phase power
Answer: Cph = 280.9 µF
Balanced three-phase systems: in a Y (star) connection the line-to-line voltage is √3 times the phase voltage, VL = √3·Vph, and the line current equals the phase current. In a Δ (delta) connection the line-to-line voltage equals the phase voltage and the line current is √3 times the phase current, IL = √3·Iph. The total power is three times the power of one phase: P = 3·Vph·Iph·cos φ = √3·VL·IL·cos φ. Power factor correction: capacitors supply reactive power locally, QC = P·(tan φ1 − tan φ2). Each of the three capacitors supplies QC/3 = V²·ω·C, where V is the voltage across that capacitor: VL in a Δ bank, VL/√3 in a Y bank.
Reactive power before and after
The real power is unchanged, so each power factor fixes the reactive power: Q = P·tan φ.
Q1 = 100·tan(acos 0.75) = 100·0.8819 = 88.19 kvar
Q2 = 100·tan(acos 0.92) = 100·0.426 = 42.6 kvar
Reactive power from the capacitors
QC = Q1 − Q2 = 45.59 kvar
Capacitance per phase
In a Δ bank each capacitor is connected between two lines.
Ideal transformer: the voltages are in the ratio of the turns and the currents in the inverse ratio: V₁/V₂ = N₁/N₂ = a and I₁/I₂ = N₂/N₁ = 1/a, so the power in equals the power out, V₁·I₁ = V₂·I₂. A load impedance Z on the secondary looks like a²·Z from the primary.
Secondary voltage and current
V2 = 2400/10 = 240 V
I2 = 240/20 = 12 A
Primary current
An ideal transformer has no losses: V₁·I₁ = V₂·I₂.
I1 = I2/10 = 1.2 A
Answer
I1 = 1.2 A
Check: the load seen from the primary is a²·RL = 2000 Ω, and 2400/2000 gives the same current.
20.Transformers
Answer: Sη,max = 31.62 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
x²·375 = 150 → x = √(150/375) = 0.6325
Load at maximum efficiency
Sη,max = x·S = 0.6325·50 = 31.62 kVA
Answer
Sη,max = 31.62 kVA
21.Op-amp circuits
Answer: Vout = 2.139 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.
Ideal op-amp rules: with negative feedback, the op-amp drives its output so that its two inputs sit at the same voltage (V₋ = V₊), and no current flows into either input. Writing KCL at the inverting input with these two facts gives the output.
Input currents
V₋ = 0, so each input resistor has its full input voltage across it.
I1 = V1/R1 = −1.7/10 = −0.17 mA
I2 = V2/R2 = −0.7/22 = −0.03182 mA
If = I1 + I2 = −0.2018 mA
Output voltage
Vout = −Rf·If = −22·(−0.2018) = 4.44 V
Answer
Vout = 4.44 V
23.Diodes & transistors
Answer: IC = 1.839 mA
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 = 18·22/(56 + 22) = 5.077 V
RTH = 56·22/(56 + 22) = 15.79 kΩ
Base current
KVL around the base loop; the emitter current is (β + 1)·IB.
IB = (5.077 − 0.7)/(15.79 + 101·2.2) = 18.39 µA
Collector current
IC = 100·18.39 µA = 1.839 mA
IE = 101·18.39 µA = 1.857 mA
Answer
IC = 1.839 mA
24.Diodes & transistors
Answer: Rmax = 307.7 Ω
Zener regulator: a reverse-biased Zener diode holds its voltage VZ while its current stays above a minimum IZ,min. The series resistor R takes the difference between input and output: IR = (Vin − VZ)/R. That current splits between the load, IL = VZ/RL, and the Zener: IZ = IR − IL. Design for the worst cases: the lowest input with the largest load must still leave IZ,min, and the highest input with no load gives the largest Zener power PZ = VZ·IZ.
Worst-case current
IR = 25 + 1 = 26 mA
Largest resistance
Rmax = 8/0.026 = 307.7 Ω
Answer
Rmax = 307.7 Ω
25.Number systems
Answer: U = 232
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
24 = 0001 1000
inverted: 1110 0111
+1 → 1110 1000
Read it as unsigned
1110 1000₂ = 256 − 24 = 232
Answer
U = 232
26.Number systems
Answer: N = 4.295 × 10⁹
Positional number systems: each digit is worth its value times a power of the base. In binary the places are worth 1, 2, 4, 8, 16, …; in hexadecimal 1, 16, 256, …, with A–F standing for 10–15. In 8-bit two's complement the leftmost bit is worth −128 instead of +128, which is how negative numbers are stored.
Largest value
232 − 1 = 4294967295
Answer
N = 4294967295
27.Digital logic: gates, K-maps & flip-flops
Answer: L = 6
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
AC′ → m(4, 6)
A′B′C′ → m(0)
AB′C → m(5)
Group and read off
F = B′C′ + AC′ + AB′
Count the literals
L = 6
Answer
L = 6
28.Digital logic: gates, K-maps & flip-flops
Answer: N = 3
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.
Sequence for 3 flip-flops
100 → 010 → 001
Number of states
N = 3
Answer
N = 3
29.Laplace transforms
Answer: f(0.3) = 5.066
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).
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 − 7s − (−13) + 6(sY − 7) + 5Y = 0
Y(s) = (7s + 29)/((s + 1)(s + 5))
Partial fractions
A = 22/4 = 5.5
B = −6/(−4) = 1.5
Result
y(t) = 5.5·e−t + 1.5·e−5t
y(1.2) = 1.66
Answer
y(1.2) = 1.66
Check: y(0) = A + B = 7.
31.Block diagrams
Answer: T(0) = 0.9524
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).
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) = 5/(s + 4 + 130)
Steady state
css = 10·5/134 = 0.3731
Answer
css = 0.3731
A larger K reduces the effect of the disturbance, but never to zero with a proportional controller.
33.Step response
Answer: tp = 0.4645 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).
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) = K/(s² + 4s + K)
Damping ratio from the overshoot
ζ = −ln(0.05)/√(π² + ln²(0.05)) = 0.6901
Gain
ωₙ = 4/(2ζ) = 2.898 rad/s
K = ωₙ² = 8.399
Answer
K = 8.399
35.Bode plots & margins
Answer: Q = 47.67
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.
Resonant frequency
ω₀ = 1/√(LC) = 1/√(0.005·2.2 × 10⁻⁶) = 9535 rad/s
f₀ = ω₀/(2π) = 1517 Hz
Quality factor
BW = R/L = 1/0.005 = 200 rad/s = 31.83 Hz
Q = ω₀/BW = 9535/200 = 47.67
Answer
Q = 47.67
36.Bode plots & margins
Answer: PM = 36.66 °
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 − 1296 = 0
ω² = (−16 + √(256 + 4·1296))/2 = 28.88
ωc = 5.374 rad/s
Phase margin
∠L(jωc) = −90° − atan(5.374/4) = −143.3°
PM = 180° + ∠L = 36.66°
Answer
PM = 36.66°
37.Stability: Routh–Hurwitz & root locus
Answer: Kmax = 72
Routh–Hurwitz criterion: a linear system is stable when every root of its characteristic polynomial lies in the left half of the s-plane. Write the coefficients alternately into the first two rows of the Routh array. Each entry of a new row comes from the two rows above it; for a cubic a₃s³ + a₂s² + a₁s + a₀ the s¹ entry is b₁ = (a₂·a₁ − a₃·a₀)/a₂. The number of sign changes in the first column equals the number of roots in the right half-plane. With a gain K in the coefficients, every first-column entry must stay positive: the gain that makes the s¹ entry zero is the stability limit, and the s² row then gives the frequency of the sustained oscillation.
Characteristic equation
s³ + 9s² + 8s + K = 0
Routh array
s³: 1, 8
s²: 9, K
s¹: (9·8 − K)/9
s⁰: K
Conditions
Every entry of the first column must be positive.
K > 0
9·8 − K > 0 → K < 72
Answer
Kmax = 72
At K = 72 the closed loop oscillates at ω = √8 = 2.828 rad/s.
38.Stability: Routh–Hurwitz & root locus
Answer: K = 25
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.
Compare with the standard form
s² + 8s + K = s² + 2ζωₙs + ωₙ²
2·0.8·ωₙ = 8 → ωₙ = 5 rad/s
Gain
K = ωₙ² = 5² = 25
Answer
K = 25
The closed-loop poles sit where the ζ line crosses the vertical branch at s = −4.
39.Steady-state error & PID control
Answer: ess = 2
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) = 2
Ramp error
ess = 4/2 = 2
Answer
ess = 2
40.Steady-state error & PID control
Answer: K = 3.2
P, PI and PID control: the controller C(s) = Kp + Ki/s + Kd·s acts on the error. A proportional gain makes the loop faster and reduces the error of a type-0 plant, but never removes it. The integral term adds a pole at s = 0: the system type rises by one, and a step is followed without error. The derivative term adds damping. To choose gains, write the closed-loop characteristic polynomial and compare it with s² + 2ζωns + ωn². Then %OS = 100·e−ζπ/√(1−ζ²), tp = π/ωd with ωd = ωn√(1 − ζ²), and ts ≈ 4/(ζωn).
Characteristic polynomial
s(s + 4) + 5K = s² + 4s + 5K
Natural frequency
2·0.5·ωₙ = 4 → ωₙ = 4 rad/s
Gain
5K = ωₙ² = 16 → K = 3.2
Answer
K = 3.2
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