Pre-Exam Solutions (October 7, 2025)
Problem 1 (30 pts.)
Figure 1: *
Voltage source u(t), series 1 Ω resistor, and two parallel capacitors (1 F and 2 F). Output
y(t) is the current through the 2 F capacitor (downward).
Consider the circuit in the figure (ideal components). A voltage source u(t) drives a 1 Ω
series resistor. After the resistor, the node feeds two parallel capacitors of values 1 F and 2 F,
both connected to ground. Let y(t) denote the current through the 2 F capacitor, oriented
downward. Assume the capacitors are initially uncharged.
(a) Using Kirchhoff’s laws, derive a time-domain mathematical model relating the output
y(t) to the input voltage u(t). Express the result as a linear differential equation with
constant coefficients in terms of y(t) and u(t).
(b) Assuming zero initial conditions, determine the transfer function
Y (s)
G(s) = .
U (s)
Solution 1 (30 pts.)
(a) Mathematical model (with y = current through the 2-F capac-
itor)
Let v(t) be the node voltage across the capacitors and u(t) the source. By KCL at the node
after 1 Ω:
u(t) − v(t)
= C1 v̇(t) + C2 v̇(t) = (1 + 2)v̇(t) = 3v̇(t) ⇒ u(t) − v(t) = 3v̇(t).
1
y(t)
With y(t) = C2 v̇(t) = 2v̇(t) ⇒ v̇(t) = 2
, differentiate the KCL to eliminate v:
y(t)
u̇(t) − v̇(t) = 3v̈(t) ⇒ u̇(t) − 2
= 32 ẏ(t) ⇒ 3ẏ(t) + y(t) = 2u̇(t) .
1
Y (s)
(b) Transfer function G(s) =
U (s)
With zero initial conditions:
2s
(3s + 1)Y (s) = 2s U (s) ⇒ G(s) = .
3s + 1
Problem 2 (30 pts.)
Find the transfer function for the following block diagram:
Figure 2: *
Block diagram
Solution 2 (30 pts.)
Reduce inner positive-feedback loops, then close the outer loop.
G2
• Around G2 with H2 (positive feedback): K2 = . The summer before Y adds
1 − G2 H2
the feedforward path and K2 , yielding a factor (1 + K2 ).
G3
• Around G3 with H3 (positive feedback): K3 = .
1 − G3 H3
2
• Outer loop is negative feedback of K3 Y around G1 .
Closed-loop result:
Y (1 + K2 )G1 G2 G3
= , K2 = , K3 = .
R 1 + (1 + K2 )G1 K3 1 − G2 H2 1 − G3 H3
Expanded (no K2 , K3 ):
Y G1 (1 − G3 H3 )(1 + G2 − G2 H2 )
= .
R (1 − G3 H3 )(1 − G2 H2 ) + G1 G3 (1 + G2 − G2 H2 )
Problem 3 (30 pts.)
Consider the following torsional mechanical system with input torque T (t) and output angle
θ(t).
Let J be the moment of inertia, K be the elastic shaft spring constant, and B be the
damping coefficient for the braking device. Let the ratios be 1/J = 2, B/J = 4, and
K/J = 3. Assume the initial conditions are θ(0) = 1, θ̇(0) = 0.
(a) Find the natural response of the system.
(b) Find the complete response due to unit step input.
(c) Find the final steady-state value of the output in part (b).
(d) Identify the transient and the steady-state response components in part (b).
3
Solution 3 (30 pts.)
Given 1/J = 2 ⇒ J = 12 , B/J = 4 ⇒ B = 2, K/J = 3 ⇒ K = 32 .
J θ¨ + B θ̇ + Kθ = T (t) ⇒ 1¨
2
θ+ 2θ̇ + 32 θ = T (t).
Multiply by 2:
θ¨ + 4θ̇ + 3θ = 2 T (t) , poles at − 1, −3.
(a) Natural response (T = 0, θ(0) = 1, θ̇(0) = 0)
θn (t) = C1 e−t + C2 e−3t , C1 + C2 = 1, −C1 − 3C2 = 0 ⇒ C1 = 32 , C2 = − 12 ,
θn (t) = 32 e−t − 12 e−3t .
(b) Response to unit step T (t) = u(t)
Θ(s) 2 2 2 2 1 1
= 2 = , Θzs (s) = = − + .
T (s) s + 4s + 3 (s + 1)(s + 3) s(s + 1)(s + 3) 3s s + 1 3(s + 3)
θ(t) = 2
3
+ 12 e−t − 16 e−3t .
(c) Final steady-state value
2
θss = 3
.
(d) Transient vs. steady-state (from part b)
Transient: 12 e−t − 16 e−3t , Steady-state: 2
3
.
Problem 4 (10 pts.)
Consider the series RLC circuit with capacitor voltage vC (t) as the output and the source
voltage v(t) as the input. Assume all initial conditions are zero.
4
(a) In order to find the transfer function, write the names of the steps you would do to
find it out. Please do not solve—just write the steps to solve.
•
•
•
(b) To find the impulse response, write the steps in 3 lines when 1/LC = 1 and R/L = 2.
Please do not solve—just write the steps to solve.
•
•
•
(c) To find the unit step response, write the steps in 3 lines. Please do not solve—just
write the steps to solve.
•
•
•
Solution 4 (10 pts.)
(a) Transfer function
• Write KVL
• Laplace transform
• Solve ratio
(b) Impulse response (1/LC = 1, R/L = 2)
• Substitute parameters
• Impulse property
• Inverse transform
(c) Unit-step response
• Multiply step
• Partial fractions
• Inverse transform