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​ = 12 ΩR3​ = 4 Ω+−V1​24 VR2​8 ΩIR2​AR4​10 ΩB

Find the current IR2 through R2.

V1 = 24 VR1 = 12 ΩR2 = 8 ΩR3 = 4 ΩR4 = 10 Ω
IR2 = A
2.Series & parallel resistorsHard
R1​ = 8 ΩR3​ = 10 ΩR5​ = 5 Ω+−V1​9 VR2​8 ΩIR2​AR4​12 ΩBR6​15 Ω

Find the current IR2 through R2.

V1 = 9 VR1 = 8 ΩR2 = 8 ΩR3 = 10 ΩR4 = 12 ΩR5 = 5 ΩR6 = 15 Ω
IR2 = A
3.Nodal analysisMedium
−+Vs​ = 6 VIx​Is​4 AAR1​8 ΩR2​5 ΩB

The voltage source Vₛ between A and B has its + terminal at B, so it makes VB − VA = Vₛ. Use nodal analysis with a supernode to find the current Ix through the voltage source, from A to B as shown by the arrow.

Is = 4 AVs = 6 VR1 = 8 ΩR2 = 5 Ω
Ix = A
4.Nodal analysisHard
R1​ = 30 Ω−+Vs​ = 4 V+−V1​12 VR2​10 ΩAR3​8 ΩBIs​5 A

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

V1 = 12 VIs = 5 AVs = 4 VR1 = 30 ΩR2 = 10 ΩR3 = 8 Ω
VB = V
5.Mesh analysisMedium
R1​ = 5 ΩR2​ = 5 Ω+−V1​15 VR3​15 ΩIR3​A+−V2​15 VI1​I2​

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

V1 = 15 VV2 = 15 VR1 = 5 ΩR2 = 5 ΩR3 = 15 Ω
IR3 = A
6.Mesh analysisHard
R1​ = 8 ΩIR1​R2​ = 20 ΩR3​ = 20 Ω+−V1​30 VR4​10 ΩAR5​6 ΩB+−V2​12 VI1​I2​I3​

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

V1 = 30 VV2 = 12 VR1 = 8 ΩR2 = 20 ΩR3 = 20 ΩR4 = 10 ΩR5 = 6 Ω
IR1 = A
7.SuperpositionMedium
R1​ = 20 ΩR3​ = 2 Ω+−V1​9 VR2​15 ΩAR4​20 ΩIR4​BIs​5 A

Use superposition to find the power PR4 absorbed by R4.

V1 = 9 VIs = 5 AR1 = 20 ΩR2 = 15 ΩR3 = 2 ΩR4 = 20 Ω
PR4 = W
8.SuperpositionHard
linear circuitV1​V2​Is​IRL​

A linear resistive circuit contains three independent sources: V1, V2 and Is. The current I through a load is measured three times. With all sources at their normal values, I = −17 mA. With V1 doubled and the other two unchanged, I = −21.5 mA. With the direction of Is reversed and the other two unchanged, I = −13 mA. Find the load current I when V2 is switched off and V1 and Is have their normal values.

normal: I = −17 mA2·V1: I = −21.5 mA−Is: I = −13 mA
I = mA
9.Thévenin & NortonMedium
R1​ = 5 ΩR3​ = 6 Ω+−V1​10 VR2​2 ΩAab

Find the Thévenin resistance Rth seen from terminals a–b.

V1 = 10 VR1 = 5 ΩR2 = 2 ΩR3 = 6 Ω
Rth = Ω
10.Thévenin & NortonHard
R1​ = 25 ΩR3​ = 4 Ω+−V1​18 VR2​8 ΩAIs​1 ABRL​20 ΩIL​

A load RL = 20 Ω is connected across a–b. Use a Thévenin equivalent to find the power PL delivered to the load.

V1 = 18 VIs = 1 AR1 = 25 ΩR2 = 8 ΩR3 = 4 ΩRL = 20 Ω
PL = W
11.RC & RL transientsMedium
+−Vs​6 Vt = 0R = 20 ΩL47 mHi(t)

The inductor carries no current before the switch closes at t = 0. Find the voltage vL across the inductor at t = 5 ms.

Vs = 6 VR = 20 ΩL = 47 mHt = 5 ms
vL = V
12.RC & RL transientsHard
+−Vs​5 Vt = 0R = 10 kΩC220 µF+−vC​vC​(0) = 8 V

Just before the switch closes at t = 0, the capacitor holds 8 V with the polarity shown. How long does it take for vC to reach 7.1 V? Find t.

Vs = 5 VR = 10 kΩC = 220 µFvC(0) = 8 V
t = ms
13.AC impedance & phasorsMedium
24 V1000 HzR = 100 ΩL = 100 mHC = 1 µFI

A series RLC circuit is connected to a 24 V (rms), 1000 Hz supply. Find the rms current I.

V = 24 V (rms)f = 1000 HzR = 100 ΩL = 100 mHC = 1 µF
I = A
14.AC impedance & phasorsHard
120 V1000 HzR = 60 ΩL = 100 mHC = 10 µF

A series RLC circuit is connected to a 120 V (rms), 1000 Hz supply. Find the resonant frequency f0 of the circuit.

V = 120 V (rms)f = 1000 HzR = 60 ΩL = 100 mHC = 10 µF
f0 = Hz
15.AC power & power factorMedium
P = 15 kWQ = ?Sφ

A single-phase motor takes 15 kW at a power factor of 0.9 lagging from a 240 V supply. Find the reactive power Q it draws.

P = 15 kWpf = 0.9V = 240 V
Q = kvar
16.AC power & power factorHard
P1​ = 40 kWQ1​S1​φ

A 75 kVA single-phase transformer supplies a load of 40 kW at a power factor of 0.85 lagging. How much extra real power ΔP can be added as a resistive (unity power factor) load before the transformer reaches its kVA rating?

Smax = 75 kVAP1 = 40 kWpf1 = 0.85
ΔP = kW
17.Three-phase powerMedium
ABCVL​ = 400 VIL​ = 30 Acos φ = 0.75lagging

A balanced three-phase load draws a line current of 30 A from a supply with a line-to-line voltage of 400 V. The power factor is 0.75 lagging. Find the total real power P drawn by the load in kW.

VL = 400 VIL = 30 Acos φ = 0.75
P = kW
18.Three-phase powerHard
P = 120 kWφ1​S1​Q2​QC​

A balanced three-phase load takes 120 kW at a power factor of 0.78 lagging from a 400 V (line-to-line), 50 Hz supply. A three-phase capacitor bank in parallel with the load must raise the overall power factor to 0.98 lagging. The real power stays the same. The capacitors are connected in Δ. Find the capacitance Cph of each capacitor in µF.

P = 120 kWpf1 = 0.78pf2 = 0.98VL = 400 Vf = 50 Hz
Cph = µF
19.TransformersMedium
2 ΩN1​N2​72 Ω

An amplifier with an output resistance of 72 Ω drives a 2 Ω loudspeaker through an ideal transformer. For maximum power transfer the loudspeaker must look like 72 Ω from the amplifier. Find the turns ratio a = N₁/N₂.

Rs = 72 ΩRL = 2 Ω
a =
20.TransformersHard
100 kVA

A single-phase 100 kVA transformer has a core loss of 400 W and a copper loss of 1200 W at rated load. At what load Sη,max, in kVA, is its efficiency highest?

S = 100 kVAPcore = 400 WPcu,fl = 1200 W
Sη,max = kVA
21.Op-amp circuitsMedium
−+Vout​Rf​ = 2 kΩR1​ = 2 kΩVin​ = 0.4 V

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

Vin = 0.4 VR1 = 2 kΩRf = 2 kΩ
Vout = V
22.Op-amp circuitsHard
−+Vout​Rf​ = 4.7 kΩV1​ = 1.2 VR1​ = 4.7 kΩV2​ = 1.6 VR2​ = 22 kΩ

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

V1 = 1.2 VV2 = 1.6 VR1 = 4.7 kΩR2 = 22 kΩRf = 4.7 kΩ
Vout = V
23.Diodes & transistorsMedium
+−24 V150 Ω12 V470 ΩIZ​ = ?

A 12 V Zener regulator is fed from 24 V through 150 Ω and supplies a 470 Ω load. Find the Zener current IZ.

Vin = 24 VVZ = 12 VR = 150 ΩRL = 470 Ω
IZ = mA
24.Diodes & transistorsHard
+−≥ 24 VR = ?12 V≤ 30 mA

A 12 V Zener regulator must supply up to 30 mA to a load. The input can drop to 24 V, and the Zener needs at least 1 mA to regulate. Find the largest series resistance Rmax that keeps it regulating.

Vin,min = 24 VVZ = 12 VIL,max = 30 mAIZ,min = 1 mA
Rmax = Ω
25.Number systemsMedium
8-bit two's complement0−12806403201608040201

Set the bits so they store −109 in 8-bit two's complement. Read as an unsigned number, what is the pattern's value U?

N = −1098 bit
U =
26.Number systemsHard
click the bits to set them012806403201608040201

Set the bits to the 8-bit result of 1001 1111 AND 0010 1010. What is the result's value R in decimal?

1001 1111AND0010 1010
R =
27.Digital logic: gates, K-maps & flip-flopsMedium
ABCD0001111000011110111111

In this Karnaugh map exactly one 1 has no neighbouring 1, so it stays a group of one cell (a full minterm of four literals) in the minimal SOP form. Neighbours across the map edges count. Click that cell.

F = Σm(5, 6, 9, 11, 12, 14)
  1. 1AB = 00, CD = 00
  2. 2AB = 00, CD = 01
  3. 3AB = 00, CD = 11
  4. 4AB = 00, CD = 10
  5. 5AB = 01, CD = 00
  6. 6AB = 01, CD = 01
  7. 7AB = 01, CD = 11
  8. 8AB = 01, CD = 10
  9. 9AB = 11, CD = 00
  10. 10AB = 11, CD = 01
  11. 11AB = 11, CD = 11
  12. 12AB = 11, CD = 10
  13. 13AB = 10, CD = 00
  14. 14AB = 10, CD = 01
  15. 15AB = 10, CD = 11
  16. 16AB = 10, CD = 10
28.Digital logic: gates, K-maps & flip-flopsHard
CLKD123456

A positive-edge-triggered D flip-flop starts with Q = 0 and receives the inputs shown. Click the first clock edge at which Q goes from 1 back to 0.

Q₀ = 0D
  1. 1clock edge 1
  2. 2clock edge 2
  3. 3clock edge 3
  4. 4clock edge 4
  5. 5clock edge 5
  6. 6clock edge 6
29.Laplace transformsMedium
t (s)f(t)t = 1f(1) = ?

Find f(t) for F(s) = (3s + 29)/(s² + 4s + 4) and evaluate f(1).

F(s) = (3s + 29)/(s² + 4s + 4)t = 1 s
f(1) =
30.Laplace transformsHard
t (s)y(t)t = 0.3y(0.3) = ?

A system obeys y″ + 9y′ + 20y = 20·u(t), with y(0) = 5 and y′(0) = 0. At t = 0 a step input u(t) = 1 is applied. Use the Laplace transform to find y(0.3).

y″ + 9y′ + 20y = 20·u(t)y(0) = 5y′(0) = 0u(t) = 1t = 0.3 s
y(0.3) =
31.Block diagramsMedium
R(s)+6K+4s + 6G(s)C(s)5H₁−−

The plant G(s) = 4/(s + 6) has an inner (minor) negative feedback loop with gain H₁ = 5. A controller gain K = 6 and an outer unity negative feedback loop close the system. Find the closed-loop DC gain T(0).

G(s) = 4/(s + 6)H₁ = 5K = 6
T(0) =
32.Block diagramsHard
R(s)+30s(s + 3)G(s)C(s)0.5H−

The plant G(s) = 30/(s(s + 3)) is in a negative feedback loop with sensor gain H = 0.5. The closed-loop poles are complex. Find their real part σ.

G(s) = 30/(s(s + 3))H = 0.5
σ =
33.Step responseMedium
t (s)y(t)2tp​ = ?

A system has the transfer function G(s) = 78/(s² + 10s + 39) and receives a unit step input. Find the peak time tp of the step response.

G(s) = 78/(s² + 10s + 39)
tp = s
34.Step responseHard
k = 200 N/mc = 22 N·s/mm = 2.5 kgF = 100 Nx(t)

A mass m = 2.5 kg hangs on a spring k = 200 N/m with a viscous damper c = 22 N·s/m (m·x″ + c·x′ + k·x = F). At rest in equilibrium, a constant force F = 100 N is suddenly applied. Find the damping ratio ζ.

m = 2.5 kgk = 200 N/mc = 22 N·s/mF = 100 N
ζ =
35.Bode plots & marginsMedium
|H| (dB)0.10.1111010100100−40−200204060ω (rad/s)φ (°)ω (rad/s)−180−135−90−450ω = 3

Find the phase ∠G(jω) of G(s) = 3(s + 10)/(s(s + 1)) at ω = 3 rad/s, in degrees.

G(s) = 3(s + 10)/(s(s + 1))ω = 3 rad/s
∠G(jω) = °
36.Bode plots & marginsHard
|H| (dB)0.10.111101010010010001000−60−40−200204060ω (rad/s)φ (°)ω (rad/s)−180−135−90−450ωc​

A unity-feedback loop has the open-loop transfer function L(s) = 168/(s(s + 8)). Find the phase margin PM in degrees.

L(s) = 168/(s(s + 8))
PM = °
37.Stability: Routh–Hurwitz & root locusMedium
R(s)+K = 41s(s + 1)(s + 3)C(s)−

The loop in the diagram runs with K = 4 and L(s) = K/(s(s + 1)(s + 3)). By what factor m can the gain be raised before the closed loop becomes unstable?

L(s) = K/(s(s + 1)(s + 3))K = 4
m =
38.Stability: Routh–Hurwitz & root locusHard
ReIm−1−2−3−4−5−6−71j1j2

The root locus of L(s) = K/(s(s + 2)(s + 6)) leaves the real axis between s = 0 and s = −2. Find the break-away point sb.

L(s) = K/(s(s + 2)(s + 6))
sb =
39.Steady-state error & PID controlMedium
R(s)+K = 192.51s + 1C(s)−

A process G(s) = 2.5/(1s + 1) is controlled by a proportional gain K = 19 in a unity-feedback loop. Find the steady-state error ess for a step, as a percentage of the step size.

G(s) = 2.5/(1s + 1)K = 19
ess = %
40.Steady-state error & PID controlHard
R(s)+K = 2010s(s + 6)C(s)−

A proportional controller K = 20 drives the plant G(s) = 10/(s(s + 6)) in a unity-feedback loop. Find the percent overshoot %OS of the step response.

G(s) = 10/(s(s + 6))K = 20
%OS = %

3Solutions

1.Series & parallel resistors

Answer: IR2 = 0.8936 A

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

R1​ = 12 ΩR3​ = 4 Ω+−V1​24 VR2​8 ΩAR4​10 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 = 4 + 10 = 14 Ω
R2 ∥ 14 = 8·14/(8+14) = 5.091 Ω
Req = R1 + 5.091 = 12 + 5.091 = 17.09 Ω

Current from the source

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

IR1 = V1/Req = 24/17.09 = 1.404 A

Current through R₂

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

VA = V1 − IR1·R1 = 24 − 1.404·12 = 7.149 V
IR2 = VA/R2 = 7.149/8 = 0.8936 A

Answer

IR2 = 0.8936 A
2.Series & parallel resistors

Answer: IR2 = 0.4578 A

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

R1​ = 8 ΩR3​ = 10 ΩR5​ = 5 Ω+−V1​9 VR2​8 ΩAR4​12 ΩBR6​15 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 + 15 = 20 Ω
R4 ∥ 20 = 7.5 Ω
R3 + 7.5 = 17.5 Ω
R2 ∥ 17.5 = 5.49 Ω
Req = R1 + 5.49 = 8 + 5.49 = 13.49 Ω

Current from the source

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

IR1 = V1/Req = 9/13.49 = 0.6672 A

Current through R₂

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

VA = V1 − IR1·R1 = 9 − 0.6672·8 = 3.663 V
IR2 = VA/R2 = 3.663/8 = 0.4578 A

Answer

IR2 = 0.4578 A
3.Nodal analysis

Answer: Ix = 2.923 A

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

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 + Vs = VA + 6
VA/R1 + VB/R2 = Is

Solve

VA/8 + (VA + 6)/5 = 4
VA = (4 − 6/5)/(1/8 + 1/5) = 8.615 V
VB = 8.615 + 6 = 14.62 V

Current through the voltage source

Everything that passes through the source from A to B leaves node B through R₂.

Ix = VB/R2 = 14.62/5 = 2.923 A

Answer

Ix = 2.923 A

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

4.Nodal analysis

Answer: VB = 22.97 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 + 4
(VA − V1)/R1 + VA/R2 + VB/R3 = Is

Solve

(VA − 12)/30 + VA/10 + (VA + 4)/8 = 5
VA·(1/30 + 1/10 + 1/8) = 5 + 12/30 − 4/8 = 4.9
VA = 4.9/0.2583 = 18.97 V
VB = 22.97 V

Answer

VB = 22.97 V
5.Mesh analysis

Answer: IR3 = 0.8571 A

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

R1​ = 5 ΩR2​ = 5 Ω+−V1​15 VR3​15 ΩA+−V2​15 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
5·I1 + 15(I1 − I2) = 15
20·I1 − 15·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
5·I2 + 15(I2 − I1) = (−15)
−15·I1 + 20·I2 = −15

Solve

Δ = (20)(20) − (−15)(−15) = 175
I1 = Δ1/Δ = 75/175 = 0.4286 A
I2 = Δ2/Δ = −75/175 = −0.4286 A

Answer

IR3 = I1 − I2 = 0.8571 A

A negative mesh current flows anticlockwise.

6.Mesh analysis

Answer: IR1 = 1.932 A

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

R1​ = 8 ΩR2​ = 20 ΩR3​ = 20 Ω+−V1​30 VR4​10 ΩAR5​6 ΩB+−V2​12 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
8·I1 + 10(I1 − I2) = 30
18·I1 − 10·I2 = 30

KVL around mesh 2

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

R2·I2 + R4(I2 − I1) + R5(I2 − I3) = 0
20·I2 + 10(I2 − I1) + 6(I2 − I3) = 0
−10·I1 + 36·I2 − 6·I3 = 0

KVL around mesh 3

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

R3·I3 + R5(I3 − I2) = −V2
20·I3 + 6(I3 − I2) = (−12)
−6·I2 + 26·I3 = −12

Solve

Δ = det of the coefficient matrix = 13600
I1 = Δ1/Δ = 26280/13600 = 1.932 A
I2 = Δ2/Δ = 6504/13600 = 0.4782 A
I3 = Δ3/Δ = −4776/13600 = −0.3512 A

Answer

IR1 = I1 = 1.932 A

A negative mesh current flows anticlockwise.

7.Superposition

Answer: PR4 = 68.83 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 ΩR3​ = 2 Ω+−V1​9 VR2​15 ΩAR4​20 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 = 2+20 = 22 Ω
R2 ∥ (R3+R4) = 15·22/(15+22) = 8.919 Ω
VA = 9·8.919/(20+8.919) = 2.776 V
VB = VA·R4/(R3+R4) = 2.776·20/22 = 2.523 V
IR4′ = (VB − 0)/R4 = (2.523 − 0)/20 = 0.1262 A
R1​ = 20 ΩR3​ = 2 ΩSHORTR2​15 ΩAR4​20 ΩBIs​5 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 = 20·15/(20+15) = 8.571 Ω
Req = R4 ∥ (R3+R1∥R2) = 20 ∥ 10.57 = 6.916 Ω
VB = Is·Req = 5·6.916 = 34.58 V
VA = VB·(R1∥R2)/(R3+R1∥R2) = 34.58·8.571/10.57 = 28.04 V
IR4″ = (VB − 0)/R4 = (34.58 − 0)/20 = 1.729 A

Add the current contributions

IR4 = IR4′ + IR4″ = 0.1262 + 1.729 = 1.855 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 = 1.855²·20 = 68.83 W

Answer

PR4 = 68.83 W

Adding the powers of the separate cases would give 60.11 W, which is wrong.

8.Superposition

Answer: I = −6.5 mA

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

Write the measurements with contributions

Each contribution is proportional to its own source.

I₁ + I₂ + I₃ = −17
2·I₁ + I₂ + I₃ = −21.5
I₁ + I₂ − I₃ = −13

Solve for the contributions

I₁ = −21.5 − (−17) = −4.5 mA
I₃ = (−17 − (−13))/2 = −2 mA
I₂ = −17 − (−4.5) − (−2) = −10.5 mA

Switch V₂ off

I = I₁ + I₃ = (−4.5) + (−2) = −6.5 mA

Answer

I = −6.5 mA
9.Thévenin & Norton

Answer: Rth = 7.429 Ω

Thévenin’s theorem: any linear two-terminal network behaves like a single voltage source Vth in series with a resistance Rth. Norton’s theorem gives the same network as a current source IN = Vth/Rth in parallel with Rth.

R1​ = 5 ΩR3​ = 6 ΩSHORTR2​2 ΩAabRth​

Find Rth with every source switched off

Replace voltage sources with shorts and current sources with opens, then look into the circuit from a–b.

R1 ∥ R2 = 5·2/(5+2) = 1.429 Ω
Rth = (R1 ∥ R2) + R3 = 1.429 + 6 = 7.429 Ω
10.Thévenin & Norton

Answer: PL = 4.605 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​ = 25 ΩR3​ = 4 ΩSHORTR2​8 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 = 25·8/(25+8) = 6.061 Ω
Rth = (R1 ∥ R2) + R3 = 6.061 + 4 = 10.06 Ω
R1​ = 25 ΩR3​ = 4 Ω+−V1​18 VR2​8 ΩAIs​1 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) = 4.364 + 1·6.061 = 10.42 V
Vth = VB = VA + Is·R3 = 10.42 + 1·4 = 14.42 V
Rth​ = 10.06 Ω+−Vth​14.42 VRL​20 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) = 14.42/(10.06 + 20) = 0.4798 A
PL = IL²·RL = 0.4798²·20 = 4.605 W
11.RC & RL transients

Answer: vL = 0.7147 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 = 47 mH / 20 Ω = 2.35 ms
i(∞) = Vs/R = 6/20 = 0.3 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 = 6·e−5/2.35 = 0.7147 V

Answer

vL = 0.7147 V
12.RC & RL transients

Answer: t = 784.7 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

The capacitor voltage cannot jump, so it starts at its stored value and heads for the source voltage.

vC(0) = 8 V, vC(∞) = Vs = 5 V
τ = R·C = 10 kΩ · 220 µF = 2200 ms
vC(t) = 5 + (8 − 5)·e−t/τ

Solve for the time

7.1 = 5 + (3)·e−t/τ → e−t/τ = (7.1 − 5)/(8 − 5) = 0.7
t = τ·ln((8 − 5)/(7.1 − 5)) = 2200·ln(1.429) = 784.7 ms

Answer

t = 784.7 ms
13.AC impedance & phasors

Answer: I = 0.05003 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·1000 = 6283 rad/s
XL = ωL = 6283·0.1 = 628.3 Ω
XC = 1/(ωC) = 1/(6283·1·10⁻⁶) = 159.2 Ω

Impedance

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

|Z| = √(R² + (XL − XC)²) = √(100² + (469.2)²) = 479.7 Ω

Current

The same current flows through every element of a series circuit.

I = V/|Z| = 24/479.7 = 0.05003 A

Answer

I = 0.05003 A
14.AC impedance & phasors

Answer: f0 = 159.2 Hz

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

Resonance

At resonance the inductive and capacitive reactances cancel: ωL = 1/(ωC). The supply frequency does not matter.

f0 = 1/(2π√(LC)) = 1/(2π·√(0.1·10·10⁻⁶)) = 159.2 Hz

Answer

f0 = 159.2 Hz
15.AC power & power factor

Answer: Q = 7.265 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(0.9) = 25.84°, tan φ = 0.4843

Reactive power

Q = P·tan φ = 15·0.4843 = 7.265 kvar

Answer

Q = 7.265 kvar
16.AC power & power factor

Answer: ΔP = 30.78 kW

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

Reactive power of the existing load

Q1 = 40·tan(arccos 0.85) = 24.79 kvar

Largest total real power

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

P = √(Smax² − Q1²) = √(75² − 24.79²) = 70.78 kW

Extra real power

ΔP = 70.78 − 40 = 30.78 kW

Answer

ΔP = 30.78 kW
17.Three-phase power

Answer: P = 15.59 kW

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

Apparent power

S = √3·VL·IL = √3·400·30 = 20.78 kVA

Real power

P = S·cos φ = 20.78·0.75 = 15.59 kW

Answer

P = 15.59 kW
18.Three-phase power

Answer: Cph = 476.8 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 = 120·tan(acos 0.78) = 120·0.8023 = 96.27 kvar
Q2 = 120·tan(acos 0.98) = 120·0.2031 = 24.37 kvar

Reactive power from the capacitors

QC = Q1 − Q2 = 71.91 kvar

Capacitance per phase

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

V = 400 V, ω = 2π·50 = 314.2 rad/s
Cph = (QC/3)/(ω·V²) = 23969/(314.2·400²) = 476.8 µF

Answer

Cph = 476.8 µF
19.Transformers

Answer: a = 6

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

Match the referred load

a²·2 = 72
a = √(72/2) = √36 = 6

Answer

a = 6
20.Transformers

Answer: Sη,max = 57.74 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

x²·1200 = 400 → x = √(400/1200) = 0.5774

Load at maximum efficiency

Sη,max = x·S = 0.5774·100 = 57.74 kVA

Answer

Sη,max = 57.74 kVA
21.Op-amp circuits

Answer: Vout = 0.8 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.

Inverting input follows the input

V₋ = V₊ = 0.4 V
I = V₋/R1 = 0.4/2 = 0.2 mA

Output voltage

The current through R₁ also flows through Rf.

Vout = V₋ + I·Rf = 0.4 + 0.2·2 = 0.8 V

Answer

Vout = 0.8 V
22.Op-amp circuits

Answer: Vout = −1.542 V

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

Input currents

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

I1 = V1/R1 = 1.2/4.7 = 0.2553 mA
I2 = V2/R2 = 1.6/22 = 0.07273 mA
If = I1 + I2 = 0.328 mA

Output voltage

Vout = −Rf·If = −4.7·0.328 = −1.542 V

Answer

Vout = −1.542 V
23.Diodes & transistors

Answer: IZ = 54.47 mA

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.

Resistor current

IR = 12/150 = 80 mA

Load current

IL = 12/470 = 25.53 mA

Zener current

IZ = 80 − 25.53 = 54.47 mA

Answer

IZ = 54.47 mA
24.Diodes & transistors

Answer: Rmax = 387.1 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 = 30 + 1 = 31 mA

Largest resistance

Rmax = 12/0.031 = 387.1 Ω

Answer

Rmax = 387.1 Ω
25.Number systems

Answer: U = 147

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

109 = 0110 1101
inverted: 1001 0010
+1 → 1001 0011

Read it as unsigned

1001 0011₂ = 256 − 109 = 147

Answer

U = 147
26.Number systems

Answer: R = 10

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

Bit by bit

AND gives 1 only where both bits are 1.

1001 1111
AND 0010 1010
= 0000 1010

Value of the result

0000 1010₂ = 10

Answer

R = 10
27.Digital logic: gates, K-maps & flip-flops

Answer: AB = 01, CD = 01

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

Neighbours of each 1

A 1 with a neighbouring 1 can join a group of two or more.

m5: m4, m7, m1, m13 → 0
ABCD0001111000011110111111

The isolated 1

m5 = A′BC′D → AB = 01, CD = 01

Answer

AB = 01, CD = 01
28.Digital logic: gates, K-maps & flip-flops

Answer: clock edge 4

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

Q after every edge

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

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

First change from 1 to 0

clock edge 4

Answer

clock edge 4
29.Laplace transforms

Answer: f(1) = 3.519

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

Factor the denominator

s² + 4s + 4 = (s + 2)²

Partial fractions

3s + 29 = 3(s + 2) + 23
F(s) = 3/(s + 2) + 23/(s + 2)²

Inverse transform

f(t) = 3·e−2t + 23·t·e−2t
f(1) = (3 + 23·1)·e−2·1 = 3.519

Answer

f(1) = 3.519
30.Laplace transforms

Answer: y(0.3) = 3.454

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

(s² + 9s + 20)·Y(s) = 5s + 45 + 20/s
Y(s) = (5s² + 45s + 20)/(s(s + 4)(s + 5))

Partial fractions

A = 20/(4·5) = 1
B = −80/((−4)·1) = 20
C = −80/((−5)·(−1)) = −16

Result

y(t) = 1 + 20·e−4t − 16·e−5t
y(0.3) = 3.454

Answer

y(0.3) = 3.454

Check: y(0) = A + B + C = 5.

31.Block diagrams

Answer: T(0) = 0.48

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

Inner loop

Gᵢ = G/(1 + G·H₁) = 4/(s + 6 + 4·5) = 4/(s + 26)

Outer loop

T(s) = K·Gᵢ/(1 + K·Gᵢ) = 24/(s + 26 + 24) = 24/(s + 50)

Result

T(0) = 24/50 = 0.48

Answer

T(0) = 0.48
32.Block diagrams

Answer: σ = −1.5

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

Characteristic equation

s(s + 3) + 30·0.5 = 0 → s² + 3s + 15 = 0

Roots

s = −1.5 ± j·√(15 − 2.25) = −1.5 ± j3.571
σ = −1.5

Answer

σ = −1.5
33.Step response

Answer: tp = 0.8396 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 = 39 → ωₙ = 6.245 rad/s
2ζωₙ = 10 → ζ = 10/(2·6.245) = 0.8006

Result

ωd = 6.245·√(1 − 0.8006²) = 3.742 rad/s → tp = π/ωd = 0.8396 s

Answer

tp = 0.8396 s
34.Step response

Answer: ζ = 0.4919

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) = √(200/2.5) = 8.944 rad/s
ζ = c/(2√(km)) = 22/(2·√(200·2.5)) = 0.4919

Result

ζ = 0.4919

Answer

ζ = 0.4919
35.Bode plots & margins

Answer: ∠G(jω) = −144.9 °

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.

Add the angles

∠G = atan(3/10) − 90° − atan(3/1) = 16.7° − 90° − 71.57°

Result

∠G(j3) = −144.9°

Answer

∠G(jω) = −144.9°
36.Bode plots & margins

Answer: PM = 34.16 °

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 + 64ω² − 28224 = 0
ω² = (−64 + √(4096 + 4·28224))/2 = 139
ωc = 11.79 rad/s

Phase margin

∠L(jωc) = −90° − atan(11.79/8) = −145.8°
PM = 180° + ∠L = 34.16°

Answer

PM = 34.16°
37.Stability: Routh–Hurwitz & root locus

Answer: m = 3

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

Routh array

s³ + 4s² + 3s + K = 0
s³: 1, 3
s²: 4, K
s¹: (4·3 − K)/4
s⁰: K

Largest stable gain

Kmax = 4·3 = 12

Factor

m = 12/4 = 3

Answer

m = 3

This factor is the gain margin as a ratio: 9.542 dB.

38.Stability: Routh–Hurwitz & root locus

Answer: sb = −0.9028

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.

Gain along the real axis

K(s) = −s(s + 2)(s + 6) = −(s³ + 8s² + 12s)

Stationary points

dK/ds = −(3s² + 16s + 12) = 0
s = (−16 ± √(256 − 144))/6 = −0.9028, −4.431

Pick the point on the locus

The locus lies on the real axis between 0 and −2; the other root is not on the locus.

sb = −0.9028

Answer

sb = −0.9028
39.Steady-state error & PID control

Answer: ess = 2.062 %

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 = 19·2.5 = 47.5

Step error

ess = 100/(1 + 47.5) = 2.062 %

Answer

ess = 2.062 %
40.Steady-state error & PID control

Answer: %OS = 50.56 %

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 + 6) + 20·10 = s² + 6s + 200

ωₙ and ζ

ωₙ = √200 = 14.14 rad/s
ζ = 6/(2·14.14) = 0.2121

Overshoot

%OS = 100·e−0.2121π/√(1 − 0.2121²) = 50.56 %

Answer

%OS = 50.56 %

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