2012/10/24

Second-Order Circuits
•Introduction
•Finding Initial and Final Values
•The Source-Free Series RLC Circuit
•The Source-Free Parallel RLC Circuit
•Step Response of a Series RLC Circuit
•Step Response of a Parallel RLC Circuit
•General Second-Order Circuits
•Duality
•Applications

Introduction
•A second-order circuit is characterized by a
second-order differential equation.
•It consists of resistors and the equivalent of
two energy storage elements.

1
 2012/10/24

Finding Initial and Final Values

•v(0), i(0), dv(0)/dt, di(0)/dt, v(), and i()
•Two key points:
–v and i are defined according to the passive sign
convention. i
_
+ v
–Continuity properties:
•Capacitor voltage: vC (0 ) vC (0 ) (VS-like)
•Inductor current: iL (0 ) iL (0 ) (IS-like)

Example
Q : Find
(a) i(0 ), v(0 ),
(b) di(0 ) dt , dv(0 ) dt ,
(c) i(), v().

Sol : (a) Apply dc analysis for t 0.

12
i (0 )  2 A
4 2
v(0 ) 2i(0 ) 4 V

i(0 ) i(0 ) 2 A

 

v(0 ) v(0 ) 4 V


2
 2012/10/24

Cont
’d
Sol : (c)
Apply dc analysis
for t 0.

 i () 0 A
v() 12 V

Cont
’d
dv(0 )
Sol : (b) To find :
dt
dv dv iC
C iC  
dt dt C
Since the inductor current cannot
change abruptly.
 The inductor can be treated as
a current source in this case.
We can easily find
2A
iC (0 ) i(0 ) 2 A t= 0+
dv(0 ) iC (0 )
  20 V/s
dt C

3
 2012/10/24

Cont
’d
di(0 )
Sol : (b) To find :
dt
di di v
L vL   L
dt dt L
Since the capacitor voltage
cannot change abruptly.
 The capacitor can be treated as
a voltage source in this case.
To obtain vL (0 ), applying KVL gives
12 4i(0 ) vL (0 ) vC (0 ) 0
 vL (0 ) 12 8 4 0
Thus we have
t = 0+
di(0 ) vL (0 ) 0
  0 A/s
dt L 0.25

The Source-Free Series RLC Circuit

Assumed initial conditions :
i 
0 I 0 (1a)

 1 0

C
v C 0  idt V0 (1b)
 

Applying KVL gives

di 1 t
dt C 
Ri L  idt 0 (2)


d 2i R di i
 2  0 (3)
dt L dt LC d 2i R di i
2
  0
To solve (3), di(0) dt is required. dt L dt LC
(1) and (2) gives Initial conditions :
di (0)
Ri (0) L V0 0 i 
0 I 0

dt di (0) 1 
RI 0 V0 
di(0) 1 
 dt L
   RI 0 V0  (4)
dt L

4
 2012/10/24

Cont
’d
d 2i R di i R R  1
2

2
  0 s1    
dt L dt LC 2L 2 L  LC
Initial conditions : 2
R R  1
i 
0 I 0 s2    
 2L 2 L  LC
 (0) 1 
di
RI 0 V0 

 dt L

s1   0 Natural
2 2


Let i Ae st : A and s are constants. 2 frequencies
s2   0
2

AR A
 As 2 e st  se st  e st 0  R Damping
L LC 
 factor
where  2 L
 R 1  1 Resonant
 Ae st s 2  s  0 0 
 L LC  
 LC frequency
R 1 Characteristic (or undamped natural
 s 2  s  0 frequency)
L LC equation

Summary
Characteristic equation :
Two solutions (if s1 s2 ) :
s 2 2s 02 0
 i1 A1e s1t , i2 A2e s2t
 2 02
s1 
 A general solution :
s2 
  2 02
 R i (t ) A1e s1t A2e s2t

 where A1 and A2 are determined from
where  2 L
1
0  the initial conditions.

 LC

•Three cases discussed

–Overdamped case (distinct real roots) : > 0
–Critically damped case (repeated real root) : = 0
–Underdamped case (complex-conjugate roots): < 0

5
 2012/10/24

Overdamped Case (> 0)

R 1 4L
 C  2
2L LC R
Both s1 and s2 are negative and real.
 i (t ) A1e s1t A2 e s2t

i(t)

e s1t
e s 2t
t

Critically damped Case (= 0)

Let C 4 L R 2 di
Let f  i
 s1 s2 L 2 R dt
df
i (t ) A1e t A2 e t A3e t  f 0  f A1e t
dt
Single constant can' t satisfy two initial di
conditions! i A1e t
dt
di
et eti A1
Back to the original differential equation. dt
d 2i
2
di
2 2i 0 
dt
 
d t
e i A1
dt dt
d di  di   et i A1t A2
  i  i 0
dt dt  dt   i(t ) 
A1t A2 
e t

6
 2012/10/24

Critically damped Case (Cont

’d)
i (t ) 
A1t A2 
e t
i(t)
e t
te t

1 t


Underdamped Case (< 0)

Let C 4 L R 2
 
 02 2 jd
s1  

s2 
 
 02 2 jd 
where d  02 2
i (t ) B1e (jd ) t B2 e (jd )t
e t ( B1e jd t B2 e jd t )
e t 
B1 
cos d t j sin d t 
B2  
cos d t j sin d t 
e t 
B1 B2 cos d t j B1 B2 sin d t 
A B1 B2
 i(t ) e t 
A1 cos d t A2 sin d t  where  1
A2 j 
B1 B2 

7
 2012/10/24

Underdamped Case (Cont

’d)
R
i (t ) 
A1 cos d t A2 sin d t 
e t , α
2L
i(t)
e t

t
2
d

Finding The Constants A1,2

To determine A1 and A2 ,
we need i (0) and di (0) /dt.
1. i (0) I 0
2. KVL at t 0 gives
di (0)
L RI 0 V0 0
dt
di (0) 1
or  ( RI 0 V0 )
dt L

8
 2012/10/24

Conclusions
•The concept of damping
–The gradual loss of the initial stored energy
–Due to the resistance R
•Oscillatory response is possible.
–The energy is transferred between L and C.
–Ringing denotes the damped oscillation in the
underdamped case.
•With the same initial conditions, the
overdamped case has the longest settling time.
The underdamped case has the fastest decay.
(If a constant 0 is assumed.)

Example
Find i(t).

(6+3)

t<0 t>0

9
 2012/10/24

Example (Cont
’d)

t<0 t>0
10 Initial conditions :
(a) i (0)  1 A, v (0) 6i (0) 6 V
4 6
i( 0 ) 1
R 1 1 
(b) α 9 , ω0 
2L LC

0.01
10 di (0) 1 
 dt L
-
Ri (0) v(0) 

 s1,2 α α2 ω02 9  81 100 
 29(1) 6 6
9 j 4.359 A 1
 1
 i (t ) e 9 t
A1 cos 4.359t A2 sin 4.359t  A2 0.6882

The Source-Free Parallel RLC Circuit

Assumed initial conditions :
 1 0
i 
 0 I 0  v(t )dt (1a)
 L 
 
v 0 V0
 (1b)
Applying KCL gives
v 1 t dv
 vdt C 0 (2)
R L   dt
d 2v 1 dv v
 2   0 (3) s1, 2  2 02
dt RC dt LC
Let v (t ) Ae st , the characteristic  1


equation becomes where  2 RC
1
1 1 0 
s 2  s  0 
 LC
RC LC

10
 2012/10/24

Summary
•Overdamped case : > 0
v(t ) A1e s1t A2 e s2t
•Critically damped case : = 0
v(t ) 
A1 A2t 
e t
•Underdamped case : < 0
jd
s1, 2 
where d  02 2
v(t ) e t 
A1 cos d t A2 sin d t 

Finding The Constants A1,2

To determine A1 and A2 ,
we need v(0) and dv(0) /dt.
1. v(0) V0
2. KCL at t 0 gives
V0 dv(0)
I 0 C 0
R dt
dv(0) (V RI 0 )
or  0
dt RC

11
 2012/10/24

Comparisons
•Series RLC Circuit •Parallel RLC Circuit

s1, 2  2 02  2 02

s1, 2 
 R  1
 
 
where  2 L where  2 RC
1 1
0  0 

 LC 
 LC
Initial conditions : Initial conditions :
i (0) I 0 v(0) V0
 
di(0)
 0

V RI 0  dv(0) 
V RI 0 
 0

 dt L 
 dt RC

Example 1
Find v(t) for t > 0.
v(0) = 5 V, i(0) = 0
Consider three cases:
R = 1.923 
R=5
R =6.25 

Case 1 : R 1.923  Initial conditions :

1 1 v (0) 5
α 26 , ω0  10 
2 RC dv(0) v(0) Ri (0) 260
LC 
 dt RC
 s1,2 α α2 ω02 2, 50 A 0.2083
 1
v(t ) A1e 2t A2 e 50t A2 5.208

12
 2012/10/24

Example 1 (Cont
’d)
Case 2 : R 5  Initial conditions :
1 1 v (0) 5
α 10, ω0  10 
2 RC LC dv(0) v(0) Ri (0) 100

 dt RC
 s1,2 α α2 ω02 10
A 5
v(t ) 
A1 A2t 
e 10t  1
A2 50

Case 3 : R 6.25  Initial conditions :

1 1 v (0) 5
α 8, ω0  10 
2 RC LC dv(0) v(0) Ri (0) 80

 dt RC
 s1,2 α α2 ω02 8 j 6
A 5
v(t ) 
A1 cos 6t A2 sin 6t 
e 8t  1
A2 6.667

Example 1 (Cont
’d)

13
 2012/10/24

Example 2
Find v(t).

Get x(0). Get x(), dx(0)/dt, s1,2, A1,2.

t<0 t>0

Example 2 (Cont
’d)

t>0 t<0
 1 From the initial conditions :
α
 500
 2 RC  50
 v(0)  (40) 25 V
1 30 50

ω0  354 
i (0)  40 0.5 A

 LC 
 30 50
 s1,2 α α2 ω02 dv ( 0 ) v(0) Ri(0) 25 50 0.5
   0
 dt RC 50 20 10 6
854, 146
A1 5.156
v(t ) A1e 854t A2 e 146t 
A2 30.16

14
 2012/10/24

Step Response of A Series RLC Circuit

Applying KVL for t 0,
di
Ri L v VS (1)
dt
dv
But i C
dt
2
d v R dv v V
 2    S (2)
dt L dt LC LC v(t ) vt (t ) vss (t )
where
(2) has the same form as

vt : the transient response
in the source - free case. 
vss : the steady - state response


Characteristic Equation
d 2 v R dv v VS
  0
dt 2 L dt LC
Let v ' v VS ,
d 2 v ' R dv ' v '
 2   0
dt L dt LC
The characteristic equation becomes
R 1
 s 2  s  0
L LC
Same as in the source - free case.

15
 2012/10/24

Summary
 v(t ) vt (t ) vss (t )
vt () 0

where 
vss () v() VS


A1e s1t A2 e s2t (Overdamped)


vt (t ) A1 A2t e t (Critically damped)
A1 cos d t A2 sin d t 
e t (Underdamped)

where A1, 2 are obtained from v(0) and dv(0) /dt.

Example
Find v(t), i(t) for t > 0.
Consider three cases:
R=5
R=4
R =1 

Get x(0). Get x(), dx(0)/dt, s1,2, A1,2.

t<0 t>0

16
 2012/10/24

Case 1: R = 5 

t<0 t>0

 R 5 vss v() 24 V

α 
 2.5
 2 L 2(1)
 Initial conditions:
 1
ω0  2  24

 LC i (0)  4 A , v(0) 1i (0) 4 V

 5 1
 s1,2 α α2 ω02 
i (0) C dv(0)  dv(0) 4 16
1, 4 
 dt dt C

v(t ) vss  A1e t A2 e 4t  A 64 3
dv  1
i (t ) C
dt A2 4 3

Case 2: R = 4 
 R 4 vss v() 24 V
α  2
 2 L 2(1) Initial conditions :

 1  24
ω0  2 i ( 0)  4.8 A , v(0) 1i (0) 4.8 V

 LC 4 1
 dv(0) dv(0) 4.8
 s1,2 α2 i (0) C   19.2
 dt dt C
v(t ) vss 
A1 A2t 
e 2t
A 19.2
dv  1
i(t ) C A2 19.2
dt

17
 2012/10/24

Case 3: R = 1 
 R 1 vss v() 24
α  0.5
 2 L 2(1) Initial conditions :

 1  24
ω0  2 i ( 0)  12 A , v(0) 1i (0) 12 V

 LC 1 1
 dv(0) dv(0) 12
 s1,2 0.5 j1.936 i (0) C   48
 dt dt C
A1 cos 1.936t 0.5t A 12
v(t ) vss 
A sin 1.936t 
e
  1
 2  A2 21.694
dv
i (t ) C
dt

Example (Cont
’d)

18
 2012/10/24

Step Response of A Parallel RLC Circuit

Applying KCL for t 0,
v dv
i C I S (1)
R dt
di
But v L
dt
2
d i 1 di i I
 2   S (2)
dt RC dt LC LC
i(t ) it (t ) iss (t )
where
(2) has the same form as

it : the transient response
in the source - free case. 
iss : the steady - state response


Characteristic Equation
d 2i 1 di i I S
  0
dt 2 RC dt LC
Let i ' i I S ,
d 2i ' 1 di ' i'
 2   0
dt RC dt LC
The characteristic equation becomes
1 1
 s 2  s  0
RC LC
Same as in the source - free case.

19
 2012/10/24

Summary
 i (t ) it (t ) iss (t )
it () 0

where 
iss (t ) i () I S


A1e s1t A2e s2t (Overdamped)


it (t ) A1 A2t  e t (Critically damped)
A1 cos d t A2 sin d t 
e t (Underdamped)

where A1, 2 are obtained from i (0) and di (0) /dt.

General Second-Order Circuits

•Steps required to determine the step response.
–Determine x(0), dx(0)/dt, and x().
–Find the transient response xt(t).
•Apply KCL and KVL to obtain the differential equation.
•Determine the characteristic roots (s1,2).
•Obtain xt(t) with two unknown constants (A1,2).
–Obtain the steady-state response xss(t) = x().
–Use x(t) = xt(t) + xss(t) to determine A1,2 from the
two initial conditions x(0) and dx(0)/dt.

20
 2012/10/24

Example
Find v, i
for t > 0.

Get x(0). Get x(), dx(0)/dt, s1,2, A1,2.

t<0 t>0

Example (Cont
’d)

t<0 t>0

Initial conditions :
dv (0 ) iC (0 )

v(0 ) v(0 ) 12 V (1a)   12 V/s (1c)
  dt C

i (0 ) i (0 ) 0 (1b) Final values for t  :
Applying KCL at node a (t 0),  12
 i() 
 2 A
v (0 )  4 2
i (0 ) iC (0 )  
2 v() 2i () 4 V


 iC (0 ) 6 A

21
 2012/10/24

Example (Cont
’d)
Applying KCL at node a gives
v 1 dv
i  (2)
2 2 dt
Applying KVL to the left mesh gives t>0
di
4i 1 v 12 (3)
dt
 s 2, 3
Substituti ng (2) into (3) gives
v (t ) vss vt (t )
dv 1 dv 1 d 2 v
2v 2   v 12 vss v() 4
dt 2 dt 2 dt 2 where 
d 2v dv vt (t ) A1e 2t A2e 3t
 2 5 6v 24 (4)
dt dt From (1a) and (1c) we obtain
Characteristic equation :  A1 12, A2 8
s 5s 6 0
2
i (t ) can be obtain by using (2)

Duality
•Duality means the same characterizing equations with
dual quantities interchanged.
Table for dual pairs
Resistance R Conductance G
Inductance L Capacitance C
Voltage v Current i
Voltage source Current source
Node Mesh
Series path Parallel path
Open circuit Short circuit
KVL KCL
Thevenin Norton

22
 2012/10/24

A Case Study
i
…. i1 i2 in +
+ v1 - + v2 - + vn - …. v
_

v1 f1 (i ) i1 f1 (v)

v2 f 2 (i ) i2 f 2 (v)
 
vn f n (i ) in f n (v)
KVL : v1 v2  vn 0 KCL : i1 i2  in 0

Element Transformations
v Ri  i Rv (Conductance R)

dv di
i C  v C (Inductance C )
dt dt

di dv
v L  i L (Capacitance L)
dt dt

v VS  i VS (Current VS )

i I S  v I S (Voltage I S )

23
 2012/10/24

Example 1
•Series RLC Circuit •Parallel RLC Circuit

R 1 R 1
s 2  s  0 s 2  s  0
L LC L LC

Example 2

24
 2012/10/24

Application: Smoothing Circuits

Output
from a
D/A
converter

vs v0

25