1.1 Electrical Engineering 2
1.2 Electrical Engineering
as a Foundation for the Design
of Mechatronic Systems 4
1.3 Fundamentals of Engineering Exam
Review 8
1.4 Brief History of Electrical Engineering 9
1.5 Systems of Units 10
1.6 Special Features of This Book 11
2.1 Charge, Current, and Kirchhoff’s
Current Law 16
2.2 Voltage and Kirchhoff’s Voltage Law 21
2.3 Ideal Voltage and Current Sources 23
Ideal Voltage Sources 24
Ideal Current Sources 25
Dependent (Controlled) Sources 25
2.4 Electric Power and Sign Convention 26
2.5 Circuit Elements and Their
i-v Characteristics 29
2.6 Resistance and Ohm’s Law 30
Open and Short Circuits 38
Series Resistors and the Voltage
Divider Rule 39
Parallel Resistors and the Current
Divider Rule 42
2.7 Practical Voltage and Current Sources 49
2.8 Measuring Devices 50
The Ohmmeter 50
The Ammeter 51
The Voltmeter 51
2.9 Electrical Networks 52

Circuits 111
4.1 Energy-Storage (Dynamic) Circuit
Elements 126
The Ideal Capacitor 126
Energy Storage in Capacitors 130
The Ideal Inductor 133
Energy Storage in Inductors 137
4.2 Time-Dependent Signal Sources 141
Why Sinusoids? 141
Average and RMS Values 142
Contents
PART I CIRCUITS 14
xii
Chapter 1 Introduction to Electrical

Engineering 1
Chapter 2 Fundamentals of Electric
Circuits 15
Chapter 3 Resistive Network
Analysis 71
Chapter 4 AC Network
Analysis 125

4.3 Solution of Circuits Containing Dynamic
Elements 145
Forced Response of Circuits Excited
by Sinusoidal Sources 146
4.4 Phasors and Impedance 148
Euler’s Identity 148
Phasors 149

6.1 Sinusoidal Frequency Response 232
6.2 Filters 238
Low-Pass Filters 239
High-Pass Filters 245
Band-Pass Filters 248
Decibel (db) or Bode Plots 257
6.3 Complex Frequency and the Laplace
Transform 260
The Laplace Transform 263
Transfer Functions, Poles, and Zeros 267
7.1 Power in AC Circuits 282
Instantaneous and Average Power 282
AC Power Notation 284
Power Factor 288
7.2 Complex Power 289
Power Factor, Revisited 294
7.3 Transformers 308
The Ideal Transformer 309
Impedance Reflection and Power
Transfer 311
7.4 Three-Phase Power 315
Balanced Wye Loads 318
Balanced Delta Loads 319
7.5 Residential Wiring; Grounding
and Safety 322
7.6 Generation and Distribution of AC Power 325
8.1 Electrical Conduction in Semiconductor
Devices 338
8.2 The pn Junction and the Semiconductor
Diode 340

9.5 Overview of Enhancement-Mode
MOSFETs 415
Operation of the n-Channel Enhancement-
Mode MOSFET 416
p-Channel MOSFETs and CMOS
Devices 421
9.6 Depletion MOSFETs and JFETs 423
Depletion MOSFETs 423
Junction Field-Effect Transistors 424
Depletion MOSFET and JFET
Equations 426
10.1 Small-Signal Models of the BJT 438
Transconductance 441
10.2 BJT Small-Signal Amplifiers 443
DC Analysis of the Common-Emitter
Amplifier 446
AC Analysis of the Common-Emitter
Amplifier 453
Other BJT Amplifier Circuits 457
10.3 FET Small-Signal Amplifiers 457
The MOSFET Common-Source
Amplifier 461
The MOSFET Source Follower 465
10.4 Transistor Amplifiers 468
Frequency Response of Small-Signal
Amplifiers 468
Multistage Amplifiers 470
10.5 Transistor Gates and Switches 472
Analog Gates 473
Digital Gates 473

12.6 Physical Limitations of Op-Amps 569
Voltage Supply Limits 569
Frequency Response Limits 571
Input Offset Voltage 574
Input Bias Currents 575
Output Offset Adjustment 576
Slew Rate Limit 577
Short-Circuit Output Current 579
Common-Mode Rejection Ratio 580
13.1 Analog and Digital Signals 600
13.2 The Binary Number System 602
Addition and Subtraction 602
Multiplication and Division 603
Conversion from Decimal to Binary 603
Complements and Negative Numbers 604
The Hexadecimal System 606
Binary Codes 606
13.3 Boolean Algebra 610
AND and OR Gates 610
NAND and NOR Gates 617
The XOR (Exlusive OR) Gate 619
xiv Contents
Chapter 10 Transistor Amplifiers
and Switches 437
Chapter 11 Power Electronics 495
Chapter 12 Operational
Amplifiers 531
Chapter 13 Digital Logic
Circuits 599
13.4 Karnaugh Maps and Logic Design 620

Memory 682
Inputs 684
Outputs 685
15.1 Measurement Systems and Transducers 690
Measurement Systems 690
Sensor Classification 690
Motion and Dimensional
Measurements 691
Force, Torque, and Pressure
Measurements 691
Flow Measurements 693
Temperature Measurements 693
15.2 Wiring, Grounding, and Noise 695
Signal Sources and Measurement System
Configurations 695
Noise Sources and Coupling
Mechanisms 697
Noise Reduction 698
15.3 Signal Conditioning 699
Instrumentation Amplifiers 699
Active Filters 704
15.4 Analog-to-Digital and Digital-to-Analog
Conversion 713
Digital-to-Analog Converters 714
Analog-to-Digital Converters 718
Data Acquisition Systems 723
15.5 Comparator and Timing Circuits 727
The Op-Amp Comparator 728
The Schmitt Trigger 731
The Op-Amp Astable Multivibrator 735

Instrumentation
and Measurements 689
Chapter 16 Principles
of Electromechanics 767
17.1 Rotating Electric Machines 828
Basic Classification of Electric Machines 828
Performance Characteristics of Electric
Machines 830
Basic Operation of All Electric
Machines 837
Magnetic Poles in Electric Machines 837
17.2 Direct-Current Machines 840
Physical Structure of DC Machines 840
Configuration of DC Machines 842
DC Machine Models 842
17.3 Direct-Current Generators 845
17.4 Direct-Current Motors 849
Speed-Torque and Dynamic Characteristics
of DC Motors 850
DC Drives and DC Motor Speed
Control 860
17.5 AC Machines 862
Rotating Magnetic Fields 862
17.6 The Alternator (Synchronous
Generator) 864
17.7 The Synchronous Motor 866
17.8 The Induction Motor 870
Performance of Induction Motors 877
AC Motor Speed and Torque Control 879
Adjustable-Frequency Drives 880

19.4 Frequency Modulation and Demodulation
Basic Principle of FM
FM Signal Models
FM Demodulation
19.5 Examples of Communication Systems
Global Positioning System
Sonar
Radar
Cellular Phones
Local-Area Computer Networks
Chapter 17 Introduction
to Electric Machines 827
Chapter 19 Introduction
to Communication
Systems
Appendix A Linear Algebra
and Complex Numbers 933
Appendix B Fundamentals
of Engineering
(FE) Examination 941
Appendix C Answers
to Selected Problems 955
Index 961
Chapter 18 Special-Purpose
Electric Machines 889
1
CHAPTER
1
Introduction to Electrical
Engineering

illustrates the pervasive presence of electrical, electronic, and electromechanical
devices and systems in a very common application: the automobile. As you read
through the example, it will be instructive to refer to Figure 1.1 and Table 1.1.
Table 1.1
Electrical
engineering disciplines
Circuit analysis
Electromagnetics
Solid-state electronics
Electric machines
Electric power systems
Digital logic circuits
Computer systems
Communication systems
Electro-optics
Instrumentation systems
Control systems
Power
systems
Engineering
applications
Mathematical
foundations
Electric
machinery
Analog
electronics
Digital
electronics
Computer

keyless entry
Auto belts
Memory seat
Memory mirror
MUX
Engine
Transmission
Charging
Cruise
Cooling fan
Ignition
4-wheel drive
Antilock brake
Traction
Suspension
Power steering
4-wheel steer
Tire pressure
Analog dash
Digital dash
Navigation
Cellular phone
CD/DAT
AM/FM radio
Digital radio
TV sound
Body
electronics
Vehicle
control

of electrical engineering to the automobile have not been discussed yet. Consider
computer systems. You are certainly aware that in the last two decades, environmental
concerns related to exhaust emissions from automobiles have led to the introduction of
sophisticated engine emission control systems. The heart of such control systems is a type
of computer called a microprocessor. The microprocessor receives signals from devices
(called sensors) that measure relevant variables—such as the engine speed, the
concentration of oxygen in the exhaust gases, the position of the throttle valve (i.e., the
driver’s demand for engine power), and the amount of air aspirated by the engine—and
subsequently computes the optimal amount of fuel and the correct timing of the spark to
result in the cleanest combustion possible under the circumstances. The measurement of
the aforementioned variables falls under the heading of instrumentation, and the
interconnection between the sensors and the microprocessor is usually made up of digital
circuits. Finally, as the presence of computers on board becomes more pervasive—in
areas such as antilock braking, electronically controlled suspensions, four-wheel steering
systems, and electronic cruise control—communications among the various on-board
computers will have to occur at faster and faster rates. Some day in the not-so-distant
future, these communications may occur over a fiber optic network, and electro-optics
will replace the conventional wire harness. It should be noted that electro-optics is already
present in some of the more advanced displays that are part of an automotive
instrumentation system.
1.2 ELECTRICAL ENGINEERING
AS A FOUNDATION FOR THE DESIGN
OF MECHATRONIC SYSTEMS
Many of today’s machines and processes, ranging from chemical plants to auto-
mobiles, require some formof electronic or computercontrol for proper operation.
Computer control of machines and processes is common to the automotive, chem-
ical, aerospace, manufacturing, test and instrumentation, consumer, and industrial
electronics industries. The extensive use of microelectronics in manufacturing
systems and in engineering products and processes has led to a new approach to
the design of such engineering systems. To use a term coined in Japan and widely

battery pack and loading system design, and transmission and driveline design. This is an
ongoing competition, and new projects are defined in advance of each race season. The
objective of this competitive series is to demonstrate advancement in electric drive
technology for propulsion applications using motorsports as a means of extending existing
technology to its performance limit. This example describes some of the development that
has taken place at the Ohio State University. The description given below is representative
of work done at all of the participating universities.
Figure 1.3
The Ohio State University Smokin’
Buckeye
+ –
+ –
+ –
+ –
+ –
+ –
+ –
+
24 V
–
+ –
+ –
+ –
+ –
+ –
+ –
+ –
+
24 V
–

students participate in the design of the all-electric Formula Lightning drivetrain through a
special design course, made available especially for student design competitions.
In a representative course at Ohio State, the student team was divided into four
groups: battery system selection, motor and controller selection, transmission and
driveline design, and instrumentation and vehicle dynamics. Each of these groups was
charged with the responsibility of determining the technology that would be best suited to
matching the requirements of the competition and result in a highly competitive vehicle.
Figure 1.5 illustrates the interdisciplinary mechatronics team approach; it is apparent
that, to arrive at an optimal solution, an iterative process had to be followed and that the
various iterations required significant interaction between different teams.
To begin the process, a gross vehicle weight was assumed and energy storage
limitations were ignored in a dynamic computer simulation of the vehicle on a simulated
road course (the Cleveland Grand Prix Burke Lakefront Airport racetrack, site of the first
race in the series). The simulation employed a realistic model of the vehicle and tire
dynamics, but a simple model of an electric drive—energy storage limitations would be
considered later.
Vehicle-track
dynamic simulation
Vehicle weight and
weight distribution
Motor
Torque-speed
curves
Lap time
Energy
consumption
Energy
Gear and final
drive ratios
Motor

Open side pod
with battery pack and single
battery
Figure 1.8
Dashboard
Table 1.2
Smokin’ Buckeye specifications
Drive system:
Vector controlled AC propulsion model 150
Motor type: three-phase induction, 150 kW
Weight: motor 100 lb, controller 75 lb
Motor dimensions: 12-in diameter, 15-in length
Transmission/clutch:
Webster four-speed supplied by Taylor Race Engineering
Tilton metallic clutch
Battery system:
Total voltage: 372 V (nominal)
Total weight: 1440 lb
Number of batteries: 31
Battery: Optima spiral-wound lead-acid gel-cell battery
Configuration: 16 battery packs, 12 or 24 V each
Instrumentation:
Ohio Semitronics model EV1 electric vehicle monitor
Stack model SR 800 Data Acquisition
Vehicle dimensions:
Wheelbase: 115 in
Total length: 163 in
Width: 77 in
Weight: 2690 lb
Stock components:

and October). The exam is divided into two 4-hour sessions. The morning session
consists of 140 multiple choice questions (five possible answers are given); the
afternoon session consists of 70 questions. The exam is prepared by the State
Board of Engineers for each state.
One of the aims of this book is to assist you in preparing for one part of
the FE exam, entitled Electrical Circuits. This part of the examination consists of
a total of 18 questions in the morning session and 10 questions in the afternoon
session. The examination topics for the electrical circuits part are the following:
DC Circuits
AC Circuits
Three-Phase Circuits
Capacitance and Inductance
Transients
Diode Applications
Operational Amplifiers (Ideal)
Electric and Magnetic Fields
Electric Machinery
Appendix B contains a complete review of the Electrical Circuits portion
of the FE examination. In Appendix B you will find a detailed listing of the
Chapter 1 Introduction to Electrical Engineering 9
topics covered in the examination, with references to the relevant material in the
book. The appendix also contains a collection of sample problems similar to those
found in the examination, with answers. These sample problems are arranged in
two sections: The first includes worked examples with a full explanation of the
solution; the second consists of a sample exam with answers supplied separately.
This material is based on the author’s experience in teaching the FE Electrical
Circuits reviewcourse for mechanicalengineering seniorsat Ohio State University
over several years.
1.4 BRIEF HISTORY OF ELECTRICAL
ENGINEERING

electromagnetic induction in 1831. His electrical transformer and
electromagnetic generator marked the beginning of the age of electric
power. His name is associated with the unit of capacitance.
Joseph Henry (1797–1878), American physicist, discovered
self-induction around 1831, and his name has been designated to represent
the unit of inductance. He had also recognized the essential structure of the
telegraph, which was later perfected by Samuel F. B. Morse.
Carl Friedrich Gauss (1777–1855), German mathematician, and
Wilhelm Eduard Weber (1804–1891), German physicist, published a
10 Chapter 1 Introduction to Electrical Engineering
treatise in 1833 describing the measurement of the earth’s magnetic field.
The gauss is a unit of magnetic field strength, while the weber is a unit of
magnetic flux.
James Clerk Maxwell (1831–1879), Scottish physicist, discovered the
electromagnetic theory of light and the laws of electrodynamics. The
modern theory of electromagnetics is entirely founded upon Maxwell’s
equations.
Ernst Werner Siemens (1816–1892) and Wilhelm Siemens (1823–1883),
German inventors and engineers, contributed to the invention and
development of electric machines, as well as to perfecting electrical
science. The modern unit of conductance is named after them.
Heinrich Rudolph Hertz (1857–1894), German scientist and
experimenter, discovered the nature of electromagnetic waves and
published his findings in 1888. His name is associated with the unit of
frequency.
Nikola Tesla (1856–1943), Croatian inventor, emigrated to the United
States in 1884. He invented polyphase electric power systems and the
induction motor and pioneered modern AC electric power systems. His
name is used to represent the unit of magnetic flux density.
1.5 SYSTEM OF UNITS

pico p 10
−12
nano n 10
−9
micro µ 10
−6
milli m 10
−3
centi c 10
−2
deci d 10
−1
deka da 10
kilo k 10
3
mega M 10
6
giga G 10
9
tera T 10
12
Chapter 1 Introduction to Electrical Engineering 11
For example, 10
−4
s would be referred to as 100× 10
−6
s, or 100µs (or, less
frequently, 0.1 ms).
1.6 SPECIAL FEATURES OF THIS BOOK
This book includes a number of special features designed to make learning easier

Some examples (and also some of the figures in the main text) are supple-
mented by circuit simulation created using Electronics Workbench
TM
, a circuit
analysis and simulation program that has a particularly friendly user interface, and
that permits a more in-depth analysis of realistic electrical/electronic circuits and
devices. Use of this feature could be limited to just running a simulated circuit to
observe its behavior (with virtually no new learning required), or could be more
involved and result in the design of new circuit simulations. You might find it
12 Chapter 1 Introduction to Electrical Engineering
FOCUS ON METHODOLOGY
Each chapter, especially the early ones, includes “boxes” titled “Focus on
Methodology.” The contentof these boxes (which are set asidefrom the main
text) is to summarize important methods and procedures for the solution of
common problems. They usually consist of step-by-step instructions, and
are designed to assist you in methodically solving problems.
useful to learn how to use this tool for some of your homework and project assign-
ments. The electronic examples supplied with the book form a veritable Virtual
Electrical and Electronic Circuits Laboratory. The use of these computer aids is
not mandatory, but you will find that the electronic supplements to the book may
become a formidable partner and teaching assistant.
Find It on the Web!
The use of the Internet as a resource for knowledge and information is becoming
1
increasingly common. In recognition of this fact, Web site references have been
included in this book to give you a starting point in the exploration of the world of
electrical engineering. Typical Web references give you information on electrical
engineering companies, products, and methods. Some of the sites contain tutorial
material that may supplement the book’s contents.
CD-ROM Content

in the automobile, list examples of applications of the
electrical engineering disciplines of Table 1.1 for each
of the following engineering systems:
a. A ship.
b. A commercial passenger aircraft.
c. Your household.
d. A chemical process control plant.
1.3
Electric power systems provide energy in a variety of
commercial and industrial settings. Make a list of
systems and devices that receive electric power in:
a. A large office building.
b. A factory floor.
c. A construction site.
PART I
CIRCUITS
Chapter 2 Fundamentals of Electric
Circuits
Chapter 3 Resistive Network Analysis
Chapter 4 AC Network Analysis
Chapter 5 Transient Analysis
Chapter 6 Frequency Response and System
Concepts
Chapter 7 AC Power
PART I
CIRCUITS
15
CHAPTER
2
Fundamentals of Electric Circuits

•
Assigning node voltages and mesh currents in an electrical circuit.
•
Writing the circuit equations for a linear resistive circuit by applying
Kirchhoff’s voltage law and Kirchhoff’s current law.
2.1 CHARGE, CURRENT, AND KIRCHHOFF’S
CURRENT LAW
The earliest accounts of electricity date from about 2,500 years ago, when it was
discovered that static charge on a piece of amber was capable of attracting very
light objects, such as feathers. The word itself—electricity—originated about 600
B.C.; it comes from elektron, which was the ancient Greek word for amber. The
true nature of electricity was not understood until much later, however. Following
the work of Alessandro Volta
1
and his invention of the copper-zinc battery, it was
determinedthat staticelectricityand thecurrentthat flows inmetalwires connected
to a battery are due to the same fundamental mechanism: the atomic structure of
matter, consisting of a nucleus—neutrons and protons—surrounded by electrons.
The fundamental electric quantity is charge, and the smallest amount of charge
that exists is the charge carried by an electron, equal to
q
e
=−1.602 × 10
−19
C (2.1)
CharlesCoulomb(1736–1806). Photo
courtesyofFrenchEmbassy, Wash-
ington, D.C.
As you can see, the amount of charge associated with an electron is rather
small. This, of course, has to do with the size of the unit we use to measure

q
t
C
s
(2.3)
1
See brief biography on page 9.
2
See brief biography on page 9.
Part I Circuits 17
If we consider the effect of the enormous number of elementary charges actually
flowing, we can write this relationship in differential form:
i =
dq
dt
C
s
(2.4)
The units ofcurrent are called amperes (A), where1 ampere = 1coulomb/second.
The name of the unit is a tribute to the French scientist Andr
´
e Marie Amp
`
ere.
3
The electrical engineering convention states that the positive direction of current
flow is that of positive charges. In metallic conductors, however, current is carried
by negative charges; these charges are the free electrons in the conduction band,
which are only weakly attracted to the atomic structure in metallic elements and
are therefore easily displaced in the presence of electric fields.

=
(
1m
)
×

π

2 × 10
−3
2

2
m
2

= π × 10
−6
m
3
Next, we compute the number of carriers (electrons) in the conductor and the total
charge:
Number of carriers = Volume × Carrier density
N = V × n =

π × 10
−6
m
3


3
See brief biography on page 9.
18 Chapter 2 Fundamentals of Electric Circuits
To compute the current, we consider the velocity of the charge carriers, and the charge
density per unit length of the conductor:
Current = Carrier charge density per unit length × Carrier velocity
I =

Q
L
C
m

×

u
m
s

=

−50.33 × 10
3
C
m

×

19.9 × 10
−6

of two or more conductors). Formally:
N

n=1
i
n
= 0 Kirchhoff’s current law (2.5)
The significance of Kirchhoff’s current law is illustrated in Figure 2.3, where the
simple circuit of Figure 2.2 has been augmented by the addition of two light bulbs
(note how the two nodes that exist in this circuit have been emphasized by the
shaded areas). In applying KCL, one usually defines currents entering a node as
being negative and currents exiting the node as being positive. Thus, the resulting
expression for node 1 of the circuit of Figure 2.3 is:
−i + i
1
+ i
2
+ i
3
= 0
1.5 V
+
–
Battery
i
i
i
1
i
2

automobile. The circuits include headlights, taillights, starter motor, fan, power locks, and
dashboard panel. The battery must supply enough current to independently satisfy the
requirements of each of the “load” circuits. Apply KCL to the automotive circuits.
(a)
V
batt
(b)
+
–
I
head
I
batt
I
tail
I
start
I
fan
I
locks
I
dash
Figure 2.4
(a) Automotive circuits (b) equivalent electrical circuit
Solution
Known Quantities: Components of electrical harness: headlights, taillights, starter
motor, fan, power locks, and dashboard panel.
Find: Expression relating battery current to load currents.
Schematics, Diagrams, Circuits, and Given Data: Figure 2.4.

To left door speakers
To left door courtesy switches
To rear wipe wash
To heated rear window
To hatch release
To body wiring
Bulkhead disconnect
To speed control switch wiring
To stop lamp switch
To accessory lamps
To turn signal switch
To intermittent wipe
To ignition switch lamp
To wiper switch
To key-lamp
To key-in buzzer
Cigarette lighter
Heater blower
motor feed
To ignition
switch
To headlamp
dimmer switch
To speed control brake wiring
To speed control clutch switch
To speed control servo
(c)
Figure 2.4
(c) Automotive wiring harness Copyright
c