Professional Documents
Culture Documents
Chapter 4
Laplace Transform and Circuit Analysis
Chien-Jung Li
Department of Electronic Engineering
National Taipei University of Technology
Derivative
Derivative
Isaac Newton (, 1643-1727) : fluent
: fluxion
Method of fluxions
y = x2
y = 2x x
y
i
= 2x
yx()
dy
dx
y
= x
dy
y = f (x) =
dx
y = x2
y = 2x
d dy d 2 y
y = f ( x ) =
= 2
dx dx dx
2/61
Operators
Operators do particular mathematical manipulations, such as
The derivative
y = f ( x ) =
Differential operator
dy
d
=
(y )
dx dx
x2
d 2
x = 2x 3
dx
d dy d 2 y
d2
y = f ( x ) =
=
=
(y )
dx dx dx 2 dx 2
dn
Dn
n
dx
x 2Dx 2 = 2 x 3
D 2 x 5 = 20 x 3
3/61
Differential Equations
Oliver Heaviside (1850-1925)
Heaviside was a self-taught English electrical engineer, mathematician, and
physicist who adapted complex numbers to the study of electrical circuits,
invented mathematical techniques to the solution of differential equations
(later found to be equivalent to Laplace transforms. He changed the face of
mathematics and science for years to come.
y = ex
y =
d x
e = De x = e x
dx
Dy = y
Hence, we can know the solution of the equation Dy = y should be of the form
y = e x or y = Ce x
C is a constant
y = e kx
y =
d kx
e = De kx = ke x
dx
Dy = ky
( y + 7y 8y = 0 )
(D
(D)
+ 7D 8 ) y = 0
The solutions:
y =0
or
put y back
(D
+ 7D 8 ) = ( D 1)( D + 8 ) = 0
Dy = y
and Dy = 8 y
solutions
roots
D = 1 and D = 8
y = Ae x
and(/or)
y = Be 6 x
General Solution: y = Ae x + Be 6 x
5/61
Fourier Transform
The Fourier Transform
X ( f ) = x ( t ) e jt dt
X ( f ) = sin 0t e jt dt
0
X ( ) =
j e jt sin 0t 0e jt cos 0t
jt
sin 0t e dt =
02 2
je j sin 0e j cos + 0
X ( ) =
02 2
But what are sin and cos ?
6/61
X ( f , ) = x ( t ) e t e jt dt
0
For x (t ) = sin 0t
X ( f , ) = sin 0t e t e jt dt
0
X (, ) =
X ( , ) =
X (, ) =
( + j ) e
( + j ) t
sin 0t 0e
+ ( + j )
2
0
( + j ) e
( + j )
cos 0t
sin 0e
+ ( + j )
2
0
( + j )t
( + j )t
t =
=e
( + j )
0
( + j )
cos
02 + ( + j )
02 + ( + j )
7/61
02 + ( + j )
0
02 2
Thus the Fourier transform of any function x(t) is obtained by first introducing
a damping function e - t evaluating the integral for > 0 and finally
letting 0 .
8/61
X ( f , ) = x ( t ) e t e jt dt
0
X ( f , ) = x ( t ) e
( + j )t
dt
X ( s ) = x ( t ) e st dt
Lagrange 1736-1813
Laplace 1749-1827
Fourier 1768-1830
Arbogast 1759-1803
Heaviside 1850-1925
Watt 1736-1819
Coulomb 1736-1806
Volta 1745-1827
Ampere 1775-1836
Ohm 1789-1854
Joule 1818-1889
Kirchhoff 1824-1887
1700
1600
1609
1643
1609
1610
1621
1657
1679
1687
1800
1710
1752
1769
1652
(,
)
1791
1685
1800
1821
1824
1804
1826
1836
1831
10/61
1843
1801
1807
1690
1900
1889
1893
1870
1877
1600
-1644
1636
1644-62
1644
1600
1650
1600~
1661
1624
1800
1662-1722
1722-35-95 ,
1796-1804
1754
1763
1789-1794
1774-1783
1795
1774
1799-1814
1776
,
1784
1789
1795-1908 , , , ,
1840-42
1865
1866
1852
1884 ,
1856-60
,
1885
,
1863
1885
1864
1865
1887
1894
1861
1874
1871
11/61
1861
1851
1760
1683
1900
1895
1898 ,
1900
1889
F ( s ) = f ( t ) e st dt
0
12/61
13/61
Step Function
The unit step function u(t) can be used to describe the process of
turning on a DC level at t=0.
u (t ) = 0 for t < 0
= 1 for t > 0
u ( t ) = Ku ( t ) = 0 for t < 0
= K for t > 0
u (t )
u ( t )
K
1
t
t
U ( s ) = L u ( t )
U ( s ) = L u ( t )
1
e dt =
s
= Ke st dt =
st
14/61
K
s
Exponential Function
The Laplace transform of the exponential function e t .
x ( t ) = e t
x ( t ) = e t
for > 0
for < 0
X ( s ) = L e t = e t e st dt
0
= e
0
( s + )t
dt =
15/61
1
s +
e j0t + e j0t st
1 j0t st
F ( s ) = cos 0te dt =
e dt = e e dt + e j0t e st dt
2
20
0
0
0
st
1
1 ( s j0 )t
1
1
( s + j0 )t
( s j0 )t
s + j t
= e
dt + e
dt =
e
+
e ( 0)
20
( s + j0 )
0
2 ( s j0 )
0
1 s + j0 + ( s j 0 )
1
1
1
s
=
+
=
=
2
2
2 ( s j 0 ) ( s + j 0 ) 2
s 2 + 02
s + 0
e j0t e j0t st
1 j0t st
j t st
F ( s ) = sin 0te dt =
e dt =
e e dt e 0 e dt
2j
2j 0
0
0
0
st
1
1 (s j0 )t
1
( s + j 0 )t
s j t
=
dt e
dt =
e ( 0)
e
2j 0
0
2 j ( s j0 )
1
( s + j 0 )t
e
( s + j0 )
1 s + j0 ( s j0 )
0
1
1
1
= 2
2
2
2
2 j ( s j0 ) ( s + j0 ) 2 j
s + 0
s + 0
16/61
F ( s ) = e e dt = e
t
st
( + s )t
dt
e t
1
+s t
=
e( )
( + s )
1
( + s )
st
( s + )t
dt =
0
2
( s + ) + 02
st
( s + )t
17/61
dt =
s +
(s + )
+ 02
F ( s ) = L f ( t )
f (t )
F ( s ) = L f ( t )
1
s2
1 or u (t )
1
s
e t
1
s +
sin 0t
0
s 2 + 02
e t t n
cos 0t
s
s 2 + 02
(t )
sin 0t
cos 0t
n!
s n +1
n!
(s + )
n +1
(s + )
+ 02
s +
(s + )
+ 02
18/61
Transform Example
Find the Laplace transform of f(t):
f ( t ) = 10 + 5e 4t + 12sin3t + 4e 2t cos5t
<Sol.>
f (t ) = 10 + 5e 4t + 12sin3t + 4e 2t cos5t
damped
constant
F (s ) =
sinusoid
damped cosine
4 (s + 2)
10
5
12 3
+
+ 2
+
s s + 4 s + 32 ( s + 2 ) 2 + 52
4 (s + 2)
10
5
36
=
+
+
+
s s + 4 s 2 + 9 s 2 + 4s + 29
19/61
f(t)
F(s)
Differentiation
f (t )
sF ( s ) f ( 0 )
Integration
e t
f (t ) dt
F (s )
s
e t f ( t )
F (s + )
Time shifting
f (t T ) u (t T )
e sT F ( s )
f (0 )
lim f (t )
Multiplication by
(Frequency shifting)
lim sF ( s )
lim sF ( s )
s 0
20/61
Differentiate Operation
If the Laplace transform of f(t) is F(s), prove that Laplace transform of
f(t) is sF(s)-f(0).
F ( s ) = f ( t ) e st dt
0
df (t ) st
e dt
dt
0
f (t ) e dt =
0
st
Let u = e st , and
df ( t )
dt = dv
dt
v = f (t )
df (t ) st
st
st
st
0 dt e dt = f (t ) e f (t ) de 0 = f (t ) e
s ) f (t ) e st dt
(
0
= f ( ) e s f ( 0 ) e s0 + s f (t ) e st dt = sF ( s ) f ( 0 )
0
21/61
f (t ) = 0 cos 0t
L f ( t ) = sF ( s ) f ( 0 ) =
s0
0
2
2
s + 0
L [0 cos 0t ] = 0 L [cos 0t ] =
L [cos t ] =
cos 0t
s0
s 2 + 02
s
s2 + 2
22/61
F (s ) =
f (t ) = 1
1
s
x (t ) = f ( t ) dt = 1dt = t
t
t
F (s ) 1 1 1
= = 2
L x ( t ) = L f (t ) dt =
0
s
ss s
X ( s ) = L x (t ) = L [t ] =
1
s2
23/61
Degree or Order
Most transforms of interest in circuit analysis turn out to be expressed
as ratios of polynomials in the Laplace variables s. Define the
transform function F(s) as
F (s ) =
N (s )
D (s )
Numerator polynomial
N ( s ) = ans n + an 1s n 1 + + a0
Denominator polynomial
D ( s ) = bms m + bm 1s m 1 + + b0
24/61
N (s )
D (s )
F ( sz ) = 0
F ( sp ) =
Denominator polynomial D ( s ) = bm s m + bm 1s m 1 + + b0
can also be completely specified by its roots except for a constant
multiplier bm in factored form as
D ( s ) = bm ( s s1 )( s s2 ) ( s sm )
25/61
Classification of Poles
The poles can be classified as either real, imaginary, or complex.
x
jy
x+jy
26/61
s
5
+
6
s 2 + 52
s 2 + 52
10 15
20
+ 2 +
s s
s+3
8s + 30
s 2 + 25
f (t ) = 8 cos5t + 6sin5t
2s + 26
s 2 + 6s + 34
2 ( s + 3 ) + 20
(s + 3) + 4
2s + 26
5
=
=
2
2
2
s 2 + 6s + 34 ( s + 3 )2 + 25
( s + 3 ) + 52 ( s + 3 ) + 52
f (t ) = 2e 3t cos5t + 4e 3t sin5t
27/61
N (s )
s ( s 2 + 3s + 2 )( s 2 + 16 )( s 2 + 6s + 34 )( s 2 + 8s + 16 )
and where N(s) is not specified but known that no roots coincide with
those of D(s). Classify the poles.
<Sol.> 9 poles s1, s2 ,, s9
3 + 9 8
= 1
2
s1 = 0
s2 =
s4 = + j 4
s5 = j 4
s3 =
3 9 8
= 2
2
s6 =
6 + 36 136
= 3 j 5
2
s7 = 3 + j 5
s8 =
8 + 64 64
= 4
2
s9 =
8 64 64
= 4
2
50s + 75
( s 2 + 3s + 2)( s 2 + 4s + 20 )
50s + 75
( s + 1)( s + 2 ) ( s 2 + 4s + 20 )
real
real
complex conjugate
29/61
50s + 75
( s + 1)( s + 2 ) ( s 2 + 4s + 20 )
A1
A2
B s + B2
+
+ 2 1
( s + 1) ( s + 2) ( s + 4s + 20 )
30/61
A1
A2
B s + B2
+
+ 2 1
:
( s + 1) ( s + 2 ) ( s + 4s + 20 )
31/61
A1
( s + r 1 )( s + r 2 ) ( s + rk ) ( s 2 + a1s + b1 )( s 2 + a2s + b2 ) ( s 2 + aR s + bR )
( 1 j1 ) , ( 2 j2 ) ,,( R jR )
r 1, r 2 ,, rk
coeff.
Ak = ( s + k ) F ( s ) s =
BR e jR
coeff.
1
s 2 + aR s + brR F ( s )
= BR R =
32/61
s =R + j R
Example
Find the inverse Laplace transform of F(s): F ( s ) =
<Sol.> F ( s ) =
6s + 42
s 2 + 7s + 10
6 (s + 7)
( s + 2 )( s + 5 )
A1 = ( s + 2 ) F ( s ) s =2
6 (s + 7)
6 ( 2 + 7 )
=
=
= 10
( s + 5 ) s =2 ( 2 + 5 )
A2 = ( s + 5 ) F ( s ) s =5 =
6 (s + 7)
6 ( 5 + 7 )
=
= 4
+
2
5
+
2
s
(
) s =5 (
)
f (t ) = 10e 2t 4e 5t
33/61
Example
Find the inverse Laplace transform of F(s):
10s 2 + 42s + 24
F (s ) = 3
s + 4s 2 + 3s
10s 2 + 42s + 24
<Sol.> F ( s ) =
s ( s + 1)( s + 3 )
f (t ) = A1 + A2e t + A3e 3t
10s 2 + 42s + 24
24
A1 =
=
=8
( s + 1)( s + 3 ) s =0 1 3
10s 2 + 42s + 24
10 42 + 24
A2 =
=
=4
s (s + 3)
1 2
s =1
10s 2 + 42s + 24
90 126 + 24
=
= 2
A3 =
s ( s + 1)
3 ( 2 )
s =3
f (t ) = 8 + 4e t 2e 3t
34/61
Example
Find the inverse Laplace transform of F(s): F ( s ) =
20 ( s + 2 )
s ( s + 1) ( s 2 + 2s + 5 )
20 ( s + 2 )
20 2
=8
1 5
( s + 1) ( s 2 + 2s + 5 ) s =0
20 ( s + 2 )
20 1
=
=
= 5
s ( s 2 + 2s + 5 )
B =
1 4
s =1
10 (1 + j 2 )
1 2
1 20 ( s + 2 )
s + 2s + 5 ) F ( s )
=
=
(
2
2 s ( s + 1) s =1+ j 2 ( 1 + j 2 )( j 2 )
s =1+ j 2
10 ( 2.236163.435 )
( 2.2361116.565 )( 290 )
= 5 143.13
fs (t ) = 8 5e t + 5e t sin ( 2t 143.13 )
35/61
Example
Find the inverse Laplace transform of F(s): F ( s ) =
100s
( s 2 + 4 )( s 2 + 2s + 10 )
<Sol.> f (t ) = fs1 (t ) + fs 2 (t )
fs1 (t ) = B1e 0t sin ( 2t + 1 ) = B1 sin ( 2t + 1 )
fs 2 (t ) = B2e t sin ( 3t + 2 )
B11 =
50 ( j 2 )
1 2
1
100s
s + 4) F (s )
=
=
(
2
2 s 2 + 2s + 10 s = j 2 ( 4 + 10 + j 4 )
s= j 2
10090
=
= 13.867556.3099
7.211133.6901
B2 2 =
33.33 ( 1 + j 3 )
1 2
1 100s
s + 2s + 10 ) F ( s )
=
=
= 14.6176 127.875
(
2
2
3
3 s + 4 s =1+ j 3
( 1 + j 3 ) + 4
s =1+ j 3
Q (s )
(s + )
Q (s ) = (s + ) F (s )
i
i roots@s =
The time function due to the pole of order i with a value will be
the form:
C1t i 1
C2t i 2
Ck t i k
fm (t ) =
+
++
+ + Ci e t
( i k )!
( i 1)! ( i 2 )!
fm (t ) = (C1t + C2 ) e t
C1 = Q ( s ) s =
dQ ( s )
C2 =
ds s =
For complex poles, find the complex coefficients Ck with s = j
38/61
i (t )
v (t )
s-domain
Passive
RLC Circuit
V (s )
Z(s)
V ( s ) = L v (t )
I ( s ) = L i ( t )
V (s )
Z (s ) =
I (s )
I (s )
1
Y (s ) =
=
Z (s ) V (s )
40/61
i (t )
I ( )
v (t )
V (s )
V ( )
I (s )
i (t )
I ( )
v (t )
V (s )
I (s )
i (t )
v (t )
V ( )
1
sC
I ( )
0
V (s )
sL
41/61
1
j C
V ( )
j L
R = 1 k
C = 0.5 F
1
1
2 10 6
=
=
sC s ( 0.5 10 6 )
s
L = 30 mH
sL = s ( 30 10 3 ) = 0.03s
42/61
+
V0
1
sC
+ V0
s
1
sC
CV0
Example:
C = 0.2 F
+
V0 = 60 V
50 106
s
+ 60
s
43/61
50 106
s
12 10 6
sL
I0
I0
s
sL
LI
0
+
0.05s
L = 50 mH
0.4
s
I0 = 0.4 A
0.05s
44/61
+ 0.02
V0
s
i (t ) I ( s )
1
sC
I
I0 0
s
2. Solve for the desired voltages currents using the s-domain model.
3. Using inverse Laplace transform to determine the corresponding timedomain forms for the voltages or currents of interest.
45/61
Example (I)
2H
1
F
3
4
t =0
10cos3t
i1 (t )
+
8V
5H
+ 20 V
1
F i2 (t )
6
2s
10s
s2 + 9
4
s
I1 ( s )
8 +
s
46/61
6
s
5s
I2 ( s )
20
s
Example (II)
4
s
2s
10s
s2 + 9
I1 ( s )
8 +
s
6
s
5s
I2 ( s )
20
s
10s
4
6
8
+
2
sI
s
+
I
s
+
3
I
s
+
I
s
I
s
+
(
)
(
)
(
)
(
)
(
)
1
1
2
s =0
s2 + 9
s 1
s1
Mesh 2:
8 6
20
+ I2 ( s ) I1 ( s ) + 4I2 ( s ) + 5sI2 ( s ) + 10 +
=0
s s
s
Forced response
Natural Response
The form of the natural response is determined by the circuit parameter,
i.e., if the circuit has a time constant of 2 seconds, corresponding to an
exponential e t 2 , such a term will appear in the response when the circuit
is excited by any type of source.
Force Response
The form of the forced response is determined by the excitation source(s),
i.e., if a circuit is excited by a sinusoid having a frequency of 5 kHz, the
general response will always contain a sinusoid with a frequency of 5 kHz.
48/61
Steady-state response
v s (t ) = 10 sin1000t
it ( t ) = i n ( t ) = 2e t 3e 2t
First-Order Circuits
First-order Circuit with Arbitrary Input
For first-order circuits, the natural response y n (t ) will always be an exponential
term of the form:
y n (t ) = Ke t = Ke t
K is a constant
is the time constant
= 1 is the damping factor
50/61
t =0
40sin4t
vc (t )
i (t )
1
F
12
160
s 2 + 16
Transient response
VC ( s ) =
I (s )
160
12
+
4
I
s
+
I (s ) = 0
(
)
s 2 + 16
s
40s
I (s ) =
( s + 3 ) ( s 2 + 16 )
Vc ( s )
Steady-state response
12
480
I (s ) =
s
( s + 3 ) ( s 2 + 16 )
12
s
Transient response
Steady-state response
t =0
30e t
i (t )
30
+ 6I ( s ) + 3s I ( s ) = 0
s +1
I (s ) =
3H
10
( s + 1)( s + 2 )
i ( t ) = 10e t 10e 2t
30
s +1
I (s )
Forced response
Natural response
3s
52/61
Second-Order Circuits
Second-order circuits are of special interest because they are capable
of displaying, on a simple scales, the types of responses that appear
in circuits of arbitrary order. In fact, second-order circuits and systems
occur frequently in practical applications, so their behavior is subject
of considerable interest.
R
L
Series RLC Circuit
t =0
Vi +
V
1
i + sLI ( s ) + RI ( s ) +
I (s ) = 0
s
sC
Vi
L
I (s ) =
R
1
s2 + s +
L LC
i (t )
Vi
1
LC
VC ( s ) =
I (s ) =
1
R
sC
s s2 + s +
L LC
Vi
s
53/61
I (s )
vc (t )
sL
+
VC ( s )
1
sC
s2
2L
4L2 LC
R2
1
>
4L2 LC
R2
1
=
4L2 LC
R2
1
<
Underdamped Case (the roots are complex) :
4L2 LC
54/61
VC ( s ) =
Vi
L
( s + 1 )( s + 2 )
Vi
LC
s ( s + 1 )( s + 2 )
55/61
R
2L
Vi
LC
VC ( s ) =
2
s (s + )
Vt
= i e Rt 2L
L
vC ( t ) = Vi + (C1t + C2 ) e Rt 2L
C0 = Vi L
The most significant aspect of the natural
response function for the critically damped case is
the te t form. Although the t factor increases
with increasing t, the te t decreases at a faster
rate, so the product eventually approaches zero.
56/61
where =
s1 = j d
and
R
and d =
2L
1 R
LC 2L
Vi
L
(s + )
2
d
and
Vi
LC
VC ( s ) =
1
R
s s2 + s +
L LC
Vi t
e sin d t
d L
vC ( t ) = Vi + Be t sin (d t + )
57/61
Overdamped Case :
Underdamped
i (t ) = A0e 1t A0e 2t
Critically Damped Case :
Critically damped
i (t ) = C0te t =
Overdamped
58/61
Vti Rt 2L
e
L
Underdamped Case :
V
i (t ) = i e t sin d t
d L
Overdamped Case :
Underdamped
overshoot
vC (t ) = Vi + A1e 1t + A2e 2t
Critically Damped Case :
Final level = Vi
vC ( t ) = Vi + (C1t + C2 ) e Rt 2L
Underdamped Case :
vC (t ) = Vi + Be t sin (d t + )
Critically damped
Overdamped
59/61
Example (I)
Use Laplace transform techniques, determine the current i (t ) and
voltage vC (t ) for t > 0 .
2 106 2s 2 + 400s + 2 106
Z ( s ) = 2s + 400 +
=
s
s
400 2 H
t =0
Vi = 40 V +
40
s
i (t )
vC ( t )
400
2s
I (s )
0.5 F
40
V (s )
s
I (s ) =
=
2
Z ( s ) 2s + 400s + 2 106
s
20
20
= 2
=
s + 200s + 106 ( s + 100 )2 + 994.9872
VC ( s )
2 10
s
40 106
V (s ) = I (s ) Z (s ) =
s ( s 2 + 200s + 106 )
vC ( t ) = 40 + 40.2015e 100t
Example (II)
vC ( t ) , V
i ( t ) , mA
vC ( t )
60
Final voltage = 40 V 20
40
10
i (t )
20
10
0
20
30
t , ms
20
i ( t ) = 0.0201008e 100t sin ( 994.987t )
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