TABLE OF CONTENTS

TABLE OF CONTENTS
LIST OF FIGURES
LIST OF TABLES
LIST OF PROBLEMS
CHAPTER 1
LAPLACE TRANSFORMATION

1.1
1.2

Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.1
Example 1- f(t) = u(t) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.2
Example 2- f(t) = eat u(t) .. .. .. .. .. .. .. .. .. . . .. .. .. .. .

7-1
7-1
7-1
7-2

1.3

Laplace Transform Properties....................................

1.3.1
Linearity Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.2
First Translation (Shifting) Property . . . . . . . . . . . . . . . . . . . . . .
1.3.3
Real differentiation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.4
Real Integration.......................................
1.3.5
Change of Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.6
Multiplication by t 0 .
1.3.7
DIVISion by t . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.8
Second Translation (Shifting) Property....................
1.3.9
Periodic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Inverse Laplace 'fransforms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Properties of the Inverse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1
Linearity Property . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.2
First Translation (Shifting) Property . . . . . . . . . . . . . . . . . . . . . .
1.5.3
Change of Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-2
7-2
7-2
7-3
7-3
7-5
7-5
7-6
7-6

1.4
1.5

~7-7

7-7
7-7
7-7
7-7
7-8

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ii

P. E. (Electrical) License Review Manual, Volume II

1.5.4
Second Translation (Shifting) Property....................
1.5.5
Inverse of a Derivative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.6
Inverse of Integrals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.7
Multiplication by s .....................................
1.5.8
Division by s ..........................................
1.6
The Method of Partial Fraction Expansion . . . . . . . . . . . . . . . . . . . . . . . . .
1.7
Examples of Partial Fraction Expansion . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.7.1
Example 1- Repeated Roots ...........................
1.7.2
Example 2- Numerator Power Equals Denominator Power .
1.7.3
Example 3- Delay Terms ..............................
1. 7.4
Example 4 - Complex Roots . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.8
Laplace Transform Solution of Differential Equations ...............
1.9
Examples of Laplace Transform Solution of Differential Equations ....
1.9.1
Example 1- Second Order Differential Equation ..........
1.9.2
Example 2- Simultaneous Differential Equations .........
1.9.3
Example 3- Integral Differential Equations ..............
1.10 Initial and Final Value Theorems .................................
1.11 Laplace Transform in Network Analysis ...........................
1.12 Examples of Laplace Transform in Network Analysis . . . . . . . . . . . . . . . .
1.12.1
Example 1- RL Network ..............................
1.12.2
Example 2- RLC Network . , ..........................
L13 Proofs of Laplace Transform Properties ...........................
1.13.1
First Translation (Shifting) Property ......................
1.13.2
Real Differentiation ...................................
1.13.3
Real Integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.13.4
Change of Scale .......................................
1.13.5
Multiplication by tn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.13.6
DIVISIOn by t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.13.7
Second Translation (Shifting) Property....................
1.13.8
Periodic Functions .....................................
1.14 Homework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.15 Solutions to Selected Homework Problems on Laplace Transform
CHAPTER 2
CONTROL SYSTEMS AND TERMINOLOGY
2.1
2.2
2.3
2.4

Block Diagrams ...............................................

Electrical Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Translational Mechanical Networks ...............................
Relational Mechanical Networks .................................

7-8
7-9
7-9
7-10
7-10
7-11
7-12
7-12
7-12
7-13
7-14
7-14
7-14
7-14
7-15
7-16
7-16
7-17
7-17
7-17
7-19
7-20
7-20
7-20
7-20
7-21
7-21
7-22
7-22
7-22
7-23
7-29

7-33
7-34
7-34
7-35

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Section 7, Control Systems, Thble of Contents

iii

CHAPTER 3
BLOCK DIAGRAM ALGEBRA AND SECOND ORDER SYSTEMS
3.1
3.2
3.3
3.4
3.5.
3.6

3.7

3.8

Canonical Form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Block Diagram Transformation Theorems .........................
Example of Block Diagram Transformation . . . . . . . . . . . . . . . . . . . . . . . .
Reduction of Multiple-Input, Multiple-Output Diagrams .............
Single Flow Graphs ............................................
Mason's Gain Rule .............................................
3.6.1
Example 1 - Transfer Function Evaluation
Using Mason's Gain Rule ...............................
Second Order Systems ..........................................
3.7.1
Rise time Tr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.2
Peak time Tp .........................................
3.7.3
Setting Time Ts .......................................
3.7.4
Peak Response Mpt. ...................... .............
3.7.5
Percent Overshoot P.O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Example Problems .............................................
3.8.1
Example 1 - Evaluation of Frequency and Damping of
Second Order Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2
Example 2 - Evaluation of Frequency and Damping of
Second Order Systems .................................
3.8.3
Example 3 - Evaluation of P.O., Rise Time
and Settling Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.4
Example 4- Adjustable Gain Calculation ................
3.8.5
Example 5 - Adjustable Gain Calculation . . . . . . . . . . . . . . . .

7-37
7-38
7-40
7-42
7-44
7-44
7-44
7-45
7-48
7-48
7-48
7-48
7-49
7-49
7-49
7-49
7-49
7-49
7-50

CHAPTER 4
STABILITY ANALYSIS
4.1
4.2
4.3
4.4

4.5

Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Routh Stability Criterion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Adjustable Systems ............................................
Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1
Example 1 - Second Order System ......................
4.4.2
Example 2- Fourth Order System . . . . . . . . . . . . . . . . . . . . . .
Example Problems- Special Cases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1
Example 1 - Row of Zeroes ............................
4.5.2
Example 2 - Zeroes in First Column . . . . . . . . . . . . . . . . . . . . .
4.5.3
Example 3 - Unstable System ..........................
4.5.4
Example 4 - Finding Imaginary Axis Crossing .............
4.5.5
Example 5 - Unstable Systems . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.6
Example 6 - Negative Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-51
7-55
7-56
7-56
7-56
7-57
7.-57
7-57
7-58
7-59
7-59
7-60
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iv

P. E. (Electrical) License Review Manual, Volume II

CHAPTERS
PERFORMANCE SPECIFICATION

5.1

System 'JYpe ..................................................

5.1.1
Example 1 - Finding System Type .......................
5.2
Steady-State Error .............................................
5.3
Position Error (Step Error) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Velocity Error (Ramp Error) ....................................
5.5
Acceleration Error (Parabolic Error) .............................
5.6
Steady-State Error Summary ....................................
5.7
Steady-State Error Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8
Error Coefficients . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9
Error Coefficient Examples .....................................
5.9.1
Example 1 - First Order System ........................
5.9.2
Example 2 - Second Order System with Integrator .........
5.10 Sensitivity Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.11 Nominal Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.12 Open Loop ...................................................
5.13 Closed Loop (Unity Feedback) ..................................
5.14 Closed Loop (Non-Unity Feedback) . . . .. . . . .. . . . .. . . . . . . . . . . . .. . .
5.14.1
Example 1 - Sensitivity Analysis ........................
5.15 Sensitivity to Disturbance Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-61
7-61
7-62
7-62
7-63
7-64
7-65
7-65
7-66
7-67
7-67
7-67
7-67
7-68
7-68
7-68
7-69
7-69
7-70

CHAPTER 6
ROOT LOCUS ANALYSIS

6.1
6.2
6.3
6.4
6.5

Root Locus Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Rules for Plotting Root Locus ...................................
Steps for Plotting Root Locus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.1
Example of the Application of Plotting Root Locus .........
Gain Calculation ..............................................
General Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.1
Problem 1 - Construction of Root Locus Using Ru1es ......
6.5.2
Problem 2- Special Case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-71
7-72
7-73
7-73
7-77
7-78
7-78
7-81

CHAPTER 7
FREQUENCY RESPONSE

7.1

Bode Plots ....................................................

7.1.1
Forms of GH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.2
Constant 1fansmittance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.3
Roots at the Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.4
Real Axis Roots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.5
Second Order Systems .................................
7.1.6
Example 1 - Bode Plots ...............................

7-83
7-84
7-84
7-85
7-88
7-91
7-93

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Section 7, Control Systems, Thble of Contents

7.2

Gain Crossover ........................ ~ ....................... 7-95

7.3

Phase Margin ................................................. 7-95

7.4

Phase Crossover ............................................... 7-95

7.5

Gain Margin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-96

7.6

Nyquist Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-97

7.7

'!YPical P. E. Problems .......................................... 7-98

7.7.1

P. E. Problem 1 - Frequency Response ................... 7-98

7.7.2

P. E. Problem 2- Gain Margin/Phase Margin ............. 7-99

7.7.3

P. E. Problem 3 - Frequency Response ................... 7-101

CHAPTER 8
SELECTED CONTROL SYSTEMS PROBLEMS

8.1

Typical P. E. Problems

..........................................

7-107

8.1.1

P. E. Problem 1 -Finding Gain, Rise Time, P.O. and Phase .. 7-107

8.1.2

P. E. Problem 2- Find Gain and Phase Margins ........... 7-109

8.1.3

P. E. Problem 3 - Steady State Errors .................... 7-111

8.1.4

P. E. Problem 4- Find Gain, Given P.O. and Peak Times .... 7-112

8.1.5

P. E. Problem 5 - Find Parameters Given Wn, ~. and

Steady State Error ..................................... 7-114

8.1.6

P. E. Problem 6 - Find Parameters Given ~ and Wn

8.1.7

P. E. Problem 7 - State Variable Description .............. 7-116

8.1.8

P. E. Problem 8 - Find Damping, P.O., Tn T8 , Wn from

Pole Locations ........................................ 7-118

8.1.9

P. E. Problem 9 - Determine Stability and Steady State Error 7-120

8.1.10

P. E. Problem 10- Operational Amplifier

8.1.11

P. E. Problem 11 - Digital Control System ................ 7-125

8.1.12

P. E. Problem 12- Digital Control System ................ 7-127

8.1.13

P. E. Problem 13 - Digital Control System ................ 7-128

......

..... ' ..........

7-115

7-122

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