EE305 Lecture 6

Aaron Mueller

February 11, 2013

Aaron Mueller

EE305 Lecture 6

February 11, 2013

1 / 15

Roots for various damping ratios


s1,2 =

101/20
82/18
65/16
50/14
37/12
26/10
17/8
10/6
5/4
61/60
1
Aaron Mueller

p
( p 2 1)0
( j 1 2 )0 = j d

s1 /0
-1/10
-1/9
-1/8
-1/7
-1/6
-1/5
-1/4
-1/3
-1/2
-5/6
-1

s2 /0
-10
-9
-8
-7
-6
-5
-4
-3
-2
-6/5
-1

60/61
4/5
6/10
8/17
10/26
12/37
14/50
16/65
18/82
20/101
EE305 Lecture 6

if < 1

/0

d /0

-60/61
-4/5
-6/10
-8/17
-10/26
-12/37
-14/50
-16/65
-18/82
-20/101

11/61
3/5
8/10
15/17
24/26
35/37
48/50
63/65
80/82
99/101
February 11, 2013

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Location of roots in complex plane

=101/20
=82/18
=65/16
=50/14
=37/12

0.5

=26/10
=17/8
=10/6

Im{s}

=5/4
=61/60

=1
=60/61
=4/5
=6/10
=8/17
=10/26

-0.5

=12/37
=14/50
=16/65
=18/82

-1

=20/101

-10

-9

-8

Aaron Mueller

-7

-6

-5
Re{s}

-4

-3

EE305 Lecture 6

-2

-1

February 11, 2013

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Location of roots in complex plane

=101/20

=82/18
=65/16
=50/14
=37/12
=26/10

0.5

=17/8
=10/6

Im{s}

=5/4
=61/60

=1
=60/61
=4/5
=6/10
=8/17

-0.5

=10/26
=12/37
=14/50
=16/65
=18/82

-1

=20/101

-4

-3.5

Aaron Mueller

-3

-2.5

-2
Re{s}

-1.5

EE305 Lecture 6

-1

-0.5

February 11, 2013

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Total responses for various damping ratios

s
s
s t
s t
if > 1,
( s1 2s2 )e 1 + ( s2 1s1 )e 2 + 1

0t
(0 t + 1)e
+1
if = 1,
x (t ) =

e t (cos(d t ) + d sin(d t )) + 1 if < 1.

Total Responses with x(0) = x'(0)=0, x()=1

1.6

=101/20
=82/18
=65/16

1.4

=50/14
=37/12

1.2

=26/10
=17/8
=10/6

=5/4

x(t)

=61/60

0.8

=1
=60/61

0.6

=4/5
=6/10

0.4

=8/17
=10/26
=12/37

0.2
0

=14/50
=16/65

Aaron Mueller

10
0t

12

EE305 Lecture 6

14

16

18

20

=18/82
=20/101

February 11, 2013

5 / 15

Total responses for various damping ratios

s
s
s t
s t
if > 1,
( s1 2s2 )e 1 + ( s2 1s1 )e 2 + 1

0t
(0 t + 1)e
+1
if = 1,
x (t ) =

e t (cos(d t ) + d sin(d t )) + 1 if < 1.

Total Responses with x(0) = x'(0)=0, x()=1

=101/20

1.2

=82/18
=65/16

1.15

=50/14
=37/12

1.1

=26/10

1.05

=17/8
=10/6

x(t)

=5/4
=61/60

0.95

=1
=60/61

0.9

=4/5
=6/10

0.85

=8/17

0.8

=10/26

0.75

=14/50

=12/37

=16/65

Aaron Mueller

10

12
0t

EE305 Lecture 6

14

16

18

20

=18/82
=20/101

February 11, 2013

6 / 15

General procedure for solving for second order responses

1

Find the homogeneous solution (natural response) to the differential

equation. This will generally contain two unknown coefficients.
xn (t ) = A1 xn,1 (t ) + A2 xn,2 (t )

Find the particular solution (forced response) to the differential equation.

This can often be done using the method of undetermined coefficients.
For a constant forcing function (DC voltage and/or current source), this
solution will be a constant. xF (t ) = xf
Construct the total solution, which is the sum of the homogeneous and
particular solutions.
x (t ) = xn (t ) + xF (t ) = A1 xn,1 (t ) + A2 xn,2 (t ) + xf

Solve for the unknown coefficients (A1 and A2 ) by, for example, using
known the known values for x (t ) and/or its derivative x 0 (t ) at a given time
or times. If these values are not directly given. They can usually be
obtained by using the original (integro-)differential equation and/or other
circuit relations.
Aaron Mueller

EE305 Lecture 6

February 11, 2013

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Three Classes of Solutions

For the characteristic equation
s2 + 0 s + 02 = 0,
the two roots are

p
2 1)0 ,
p
s2 = ( 2 1)0

s1 = ( +

There are three possible forms for the solutions to the differential equation:
1

Case 1: Overdamped ( > 1) Two distinct real (negative) roots.

Case 2: Critically Damped ( = 1) One repeated real (negative) root.

Case 3: Underamped ( < 1) Complex conjugate roots.

In the following, we develop a general solution for each case, assuming we

know x (0), x 0 (0), and x (). Because > 0, we know that our natural
response will always decay exponentially, i.e. xn () = 0. Therefore, assuming
a solution of the form x (t ) = xn (t ) + xF (t ), we see that x () = xF () = xf .
Let x (0) = x0 and x 0 (0) = x1 .
Aaron Mueller

EE305 Lecture 6

February 11, 2013

8 / 15

Overdamped Case
The natural response is of the form xn (t ) = A1 es1 t + A2 es2 t . Assume
xF (t ) = xf , x (0) = x0 , and x 0 (0) = x1 (all constant) are given. Then we can
solve for A1 and A2 .
x (t ) = A1 es1 t + A2 es2 t + xf
x (0) = A1 + A2 + xf = x0
x 0 (t ) = A1 s1 es1 t + A2 s2 es2 t
x 0 (0) = A1 s1 + A2 s2 = x1
We have two equations with two unknowns. Solving, we get
x1 + (xf x0 )s2
x1 + (xf x0 )s1
A1 =
, A2 =
s1 s2
s1 s1

General overdamped solution

x (t ) =
Aaron Mueller

x1 +(xf x0 )s2 s1 t
e
s1 s2

f x0 )s1 s2 t
+ x1 +(s1x
e
s1

EE305 Lecture 6

February 11, 2013

9 / 15

Critically Damped Case

The natural response is of the form xn (t ) = (A3 + A4 t )est . Assume xF (t ) = xf ,
x (0) = x0 , and x 0 (0) = x1 (all constant) are given. Then we can solve for A3
and A4 .
x (t ) = (A3 + A4 t )est + xf
x (0) = A3 + xf = x0
x 0 (t ) = est [s(A3 + A4 t ) + A4 ]
x 0 (0) = A3 s + A4 = x1
We have two equations with two unknowns. Solving, we get
A3 = x0 xf ,

A4 = x1 (x0 xf )s

General critically damped solution

x (t ) = {(x0 xf ) + [x1 (x0 xf )s]t }est + xf
Aaron Mueller

EE305 Lecture 6

February 11, 2013

10 / 15

Underdamped Case
The natural response is of the form xn (t ) = e t [A5 cos(d t ) + A6 sin(d t )].
Assume xF (t ) = xf , x (0) = x0 , and x 0 (0) = x1 (all constant) are given. Then
we can solve for A5 and A6 .
x (t ) = e t [A5 cos(d t ) + A6 sin(d t )] + xf
x (0) = [A5 + 0] + xf = x0
x 0 (t ) = e t [(A6 d A5 )cos(d t ) (A5 d + A6 )sin(d t )]
x 0 (0) = A6 d A5 = x1
We have two equations with two unknowns. Solving, we get
x1 + (x0 xf )
A5 = x0 xf , A6 =

General underdamped solution

x (t ) = e t [(x0 xf )cos(d t ) +
Aaron Mueller

x1 + (x0 xf )

EE305 Lecture 6

sin(d t )] + xf
February 11, 2013

11 / 15

Problem 7.101 (1)

Given the circuit below, solve for v0 (t ) for t > 0.

2.5 mH

8k

1k
nF

3 mA
6k

12 V

4k

6k

Aaron Mueller

EE305 Lecture 6

February 11, 2013

12 / 15

Problem 7.101 (2)

t >0
t = 0

12 V

By inspection,
iL (0 ) = 0
vC (0 ) = 12V

Aaron Mueller

We can construct a Thvenin equivalent for the

portion of the circuit to the right of the inductor.
Here
VOC = 4V , RTh = 4k

EE305 Lecture 6

February 11, 2013

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Problem 7.101 (3)

The integro-differential equation that governs the circuit behavior for t > 0 is
(using KCL)
Z
1 t 0 0
di
i (t )dt + vC (0) = VOC .
(R2 + RTh )i (t ) + L +
dt
C 0
Differentiating to get the purely differential form,
d 2i
dt 2

+(

R2 + RTh di
L

dt

1
LC

i = 0.

The characteristic equation is

s2 + (

R2 + RTh
L

)s +

1
LC

= 0, or

s2 + 4 106 s + 3 1012 = 0

s1 = 1 106 , s2 = 3 106
Aaron Mueller

EE305 Lecture 6

February 11, 2013

14 / 15

Problem 7.101 (4)

i (t ) = A1 es1 t + A2 es2 t + i ()
Since the capacitor acts as an open circuit at steady state, i () = v0 () = 0.
+

We
 know that i (0 ) = iL (0 ) = 0 = A1 + A2 , but how do we get a value for
di 
dt 
t =0

di
dt

= A1 s1 es1 t + A2 s2 es2 t )?
Use the original (integro-differential)
equation at t = 0:

di 
(R2 + RTh )i (0) + L dt  + vC (0) = VOC
(so that we can use

v (0)

t =0

i 0 (0) = OC L C
= (4 (12))/(2.5 103 ) = 6400 A/s
A1 + A2 = 0 & (1 106 A1 3 106 A2 = 6400)
A1 = 0.0032, A2 = 0.0032
6
6
i (t ) = 3.2(e110 t e310 t ) mA
6
6
v0 (t ) = R2 i (t ) = 19.2(e110 t e310 t ) V

Aaron Mueller

EE305 Lecture 6

February 11, 2013

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