901 20100 02

Electric Circuit

Chapter 7

(7.1, 7.2, 7.3)

1
 901 20100 02

Transient Circuits
IN CIRCUITS WITH INDUCTORS AND CAPACITORS, VOLTAGES
AND CURRENTS CANNOT CHANGE INSTANTANEOUSLY. EVEN
THE APPLICATION, OR REMOVAL, OF CONSTANT SOURCES
CREATES A TRANSIENT BEHAVIOR.

LEARNING GOALS

FIRST ORDER CIRCUITS

Circuits that contain a single energy storing elements.
Either a capacitor or an inductor.

SECOND ORDER CIRCUITS

Circuits with two energy storing elements in any
combination. 2
• INDUCTORS AND CAPACITORS CAN STORE ENERGY. 901 20100 02
• UNDER SOME CONDITIONS THE ENERGY CAN BE RELEASED.
• THE RATE AT WHICH IT IS RELEASED WILL DEPEND ON THE
PARAMETERS OF THE CIRCUIT CONNECTED TO THE TERMINALS OF
THE ENERGY STORING ELEMENT.

With the switch on the left, the capacitor Switch to the right and the capacitor
receives charge from the battery. discharges through the lamp.

3
 901 20100 02
FIRST ORDER CIRCUITS

Homogeneous (Complementary) Solution

Nature response 0
/ 1 1
/

Particular Solution

Force response

If 4
 901 20100 02

+ / ≡ + /

/
+

: time constant
: steady state solution
: determined by initial condition

With less than 2% error

Tangent reaches x-axis in one time constant 5

 901 20100 02
EXAMPLE: 1st Order RC Circuit

VS
FIND v ( t ), t  0. ASSUME v (0) 
2

MODEL FOR t  0. USE KCL @ v (t )

v (t )  V S dv
C (t )  0
R dt
initial condition v (0)  VS / 2
Step 1: Time Constant
dv dy
RC (t )  v (t )  Vs  y f (Stand form)
dt dt
/
0

Step 2: Steady State Analysis

dv
 0  v  VS . . 6
dt
 901 20100 02
Step 3: Apply Initial Condition

/
0

AT t  0
v ( 0)  K 1  K 2  K 2  v ( 0)  K 1
initial condition v (0)  VS / 2
v (0)  VS / 2  K 2  VS / 2

/ 0
2

7
 901 20100 02
EXAMPLE: 1st Order RL Circuit FIND i ( t ), t  0 step response
 vR 
MODEL. USE KVL FOR t  0

 di
VS  v R  v L  Ri (t )  L (t )
vL dt
i (t )

INITIAL CONDITION
t  0  i (0)  0 
i ( 0  )  0
inductor  i (0)  i (0 )

STEP 1 L di V L
(t )  i (t )  S  /
0
R dt R R

VS
STEP 2 STEADY STATE i (  )  K1 
R

STEP 3 INITIAL CONDITION 0 0

 
t

VS  L 
ANS : i (t )  1  e R
/
R  
 1 8
 
 901 20100 02
EXAMPLE 7.1 FIND for t > 0 zero-input response

/
0

MODEL FOR t  0 with

v (t )
i (t ) 
R2

0 || 3 ||6 2 Ω
9
 901 20100 02
/
0 0

STEP 1   RP C  (2  103 )(100  106 F )  0.2 s

STEP 2 v (  )  K1  0

STEP 3 INITIAL CONDITIONS

CIRCUIT IN STEADY STATE FOR t  0

3k
vC ( 0  )  (12)  4V  v (0 )  4V
3k  6k

v (0 )  K1  K 2  4V  K 2  4V

t t
 4  0.2
v ( t )  4e 0.2 [V ], t 0 ANS : i ( t )  e [ mA], t  0 10
3
 FIND vO (t ), t  0 901 20100 02
EXAMPLE 7.4

MODEL FOR t  0. USE KVL

di
i(t )  VS1  R1i ( t )  L (t )  R3i ( t )  0
dt

0.5 3

vO (t )  2i (t )[V ]

dvO
0.5 (t )  vO (t )  6V
dt
t

STEP 1
dv
0.5 O (t )  vO ( t )  6V   0.5 vO ( t )  K1  K 2 e  ,t  0
dt

STEP 2: FIND K1 USING STEADY STATE ANALYSIS

dvO ∞ 6
0 .5 (t )  vO ( t )  6V
dt 11
STEP 3: FIND K2 USING INITIAL CONDITION 901 20100 02

CIRCUIT IN STEADY STATE (t<0) MUST FIND i L (t ) ∵ 0 0

 12  4 I1  4  0
iL
I1  4[ A]

VTH  VOC  2 I1  4
VTH  4[V ]

RTH  2 || 2  1

INDUCTOR: SHOTR 4
i L (0)  i (0 )  [ A]
3
4 8
i (0 )   vO (0 )  [V ]
3 3
8 10 10 
t
0 6 vO (t )  6  e 0.5 [V ], t  0 12
3 3 3
 FIND vO (t ), t  0 zero-input response 901 20100 02
LEARNING EXTENSION

R1
2 1
vO ( t )  v C ( t )  vC ( t )
24 3
C R2 DETERMINE vc (t )

MODEL FOR t  0. USE KCL t


dvC vC dvC vC ( t )  K1  K 2 e  ,t  0
C (t )   0  ( R1  R2 )C ( t )  vc  0
dt R1  R2 dt K1  vC (); K1  K 2  i1 (0 )

STEP 1   ( R1  R2 )C  (6  103 )(100  10 6 F )  0.6 s

STEP 2 STEADY STATE ANALYSIS K1  0

STEP 3 INITIAL CONDITION vC (0 )  8  K1  K 2  K 2  8[V ]
t

vC (t )  8e 0.6 [V ], t 0

6
vC (0)  (12)V t
9 8  0.6
 vO (t )  e [V ],13
t 0
3
 FIND i1 (t ), t  0 901 20100 02
LEARNING EXTENSION
FOR INITIAL CONDITIONS, ONE
NEEDS INDUCTOR CURRENT FOR t<0

CIRCUIT IN STEADY STATE

PRIOR TO SWITCHING

i1 (0)


vL
 L

MODEL FOR t  0. USE KVL

di1 1 di1 12V
L  18i1 (t )  0  (t )  i1 (t )  0 i1 (0)   1A
dt 9 dt 12
t

i1 ( t )  K1  K 2e  ,t  0 STEP 3
K1  i1 (); K1  K 2  i1 (0 ) i1 (0)  i1 (0 )  K1  K 2  K 2  1[ A]
1
STEP 1  s 
t
9 1
ANS : i1(t )  e 9 [ A]  e 9 t [ A], t 14
0
STEP 2 K1  0
 901 20100 02
EXAMPLE 7.5 FIND for t > 0

Step 1 is of the form of + /

Step 2 initial voltage across the capacitor 0 0

36 12
0 2
2 6 4

0 0
36 2 ∗2 32
15
 901 20100 02
Step 3 Find 0

32 16
0
6 3
0

Step 4 Steady state analysis

Capacitor  open
36 9
∞
2 6 2

16
 901 20100 02
Step 5 Find time constant
Thevenin equivalent resistance
(looking into the open-circuit terminals of the capacitor)

2 //6 Ω
Step 6
/
3
+ Ω 100 0.15
2
9
∞ mA
2
5
0 mA
6
+ / .
17
EXAMPLE 7.6 901 20100 02
FIND v (t ), t  0

STEP 3 : Determine v (0)

Inductor is replaced by
a current source.

t

STEP 1 : v (t )  K1  K 2e  ,t  0

STEP 2 : Initial inductor current

24 / 6| 3 4 4 mA

V1  24 V1 V1 8
   0
4 6 12 3
20
V1  [V ]
3
52
6k || 3k 6 8 v (0 )  24[V ]  V1  [V ] 18
i L ( 0  )  i L (0
I1)  mA 3
63 3
 901 20100 02
STEP 4 : DETERMINE v ()
STEP 6 : DETERMINE K1 , K 2

K 1  v (  )  24[V ] (step 4)

52
v (0  )   K1  K 2 (step 3)
3
52 20
24
3 3
v ()  24[V ] 20 
t
ANS : v (t )    24e 2 , t  0
STEP 5 : DETERMINE TIME CONSTANT 3

4||6||12 = 2
ORIGINAL CIRCUIT

Inductive Circuit :  
L 4H
  2s 19
RTH 2
EXAMPLE 7.7 FIND vO (t ), t  0 901 20100 02

t

STEP 1 : vO (t )  K1  K 2e  , t 0

STEP 2 : DETERMINE i L (0 ) STEP 3 : DETERMINE vO (0 )


6[V ]
iA  3A 
12 6 20
0 0 3 vO (0 )  18[V ]
6
 901 20100 02
STEP 4 : DETERMINE vO ()
OPEN CIRCUIT VOLTAGE
vB vO ()  27[V ]

KVL

9[V ] 
i "A  6 A 12V

v B  36 v B v B  (2i A' ) i A' 
vB
vOC  24  12  36[V ]
  0
2 4 6 4

v B  18[V ], i A'  4.5[ A] ORIGINAL CIRCUIT

STEP 5 : DETERMINE TIME CONSTANT

Circuit with
inductive circuit
dependent sources
L
 v
RTH RTH  OC
i SC
21
 901 20100 02
SHORT CIRCUIT CURRENT

STEP 6 : DETERMINE K1 , K 2
iA'''  i1 vO ()  27  K1 (step 4)
iSC  i2
vO (0 )  18  K1  K 2  K 2  9[V ] (step 3)
i1
t

3
ANS : vO (t )  27  9e 8 , t 0
36  2(i1  i2 )  4i1 36
i SC  [ A]
36  2(i1  i2 )  6i2  2i A''' 8

vOC  36[V ]  3 ORIGINAL CIRCUIT

  RTH  8 L  3H    s
i SC  36 / 8[ A] 8

NOTE: FOR THE INDUCTIVE CASE

THE CIRCUIT USED TO
COMPUTE THE SHORT CIRCUIT
CURRENT IS THE SAME USE TO
DETERMINE vO () 22
 901 20100 02
STEP RESPONSE

VOLTAGE STEP
0 t  0
u( t )  
1 t  0

TIME SHIFTED STEP CURRENT STEP

23
 901 20100 02
STEP RESPONSE
PULSE SIGNAL

i ( t )  10[u( t )  u(t  0.01)](mA )

v ( t )  10[u( t  1)  u( t  2)](V )

24
PULSE AS SUM OF STEPS
EXAMPLE 7.8 FIND THE OUTPUT VOLTAGE vO (t ); t  0 901 20100 02
( t  0 .3 )
t  0 .3  v ( t )  0 
vO ( t )  K1"  K 2" e '

vo ()  0  K1"  0
0 .3

K 2"  vo (0.3 )  2.11(V ) v (0.3 )  4(1  e 0 .4 )
o

t  0.3

vo (t )  2.11e 0.4 ; t  0. 3

t  0  v ( t )  0  vO ( t )  0 vO ( 0  )  0
t

t  0  v ( t )  9V vo ( t )  K1'  '
K 2e 

  RTH C  (6k || 12k )  100  F  0.4 s

8  
t

v o ( )  (9)  K1' vo (0 )  K1`  K 2'  0 
vo ( t )  4 1  e 0 . 4 
10  8   25
 
 901 20100 02
General Procedures to Solve a Switch DC 1st Order Transient

Approach 1: solve the differential equation directly

Approach 2: step by step method /

1. Find circuit diagram for

 Find , ,

2. Find circuit diagram for

 Find initial value from continuity of &

3. Find steady-state ∞ from DC analysis of circuit for

4. Find time constant " ” or " / "

/ 26
5.
 901 20100 02
SECOND ORDER CIRCUITS
THE BASIC CIRCUIT EQUATION
 vC 

 vR  
vL


Single Node-pair: Use KCL Single Loop: Use KVL

 i S  i R  i L  iC  0  v S  v R  vC  v L  0
v (t ) 1t dv 1 t di
iR  ; iL   v( x)dx  iL (t0 ); iC  C (t ) v R  Ri; vC   i ( x )dx  vC (t0 ); v L  L (t )
R L t0 dt C t0 dt
v 1t dv 1 t di
  v ( x )dx  i L (t0 )  C (t )  i S Ri   i ( x )dx  vC (t0 )  L ( t )  v S
R L t0 dt C t0 dt
Differentiating Differentiating

d 2v 1 dv v diS d 2i di i dv
C 2   L 2 R   S 27
dt R dt L dt dt dt C dt
 901 20100 02
THE RESPONSE EQUATION

KNOWN : x (t )  x p (t )  xc (t ) THE COMPLEMENTARY SOLUTION

SATISIFES
xp particular solution
d 2 xc dxc
xc complementary solution 2
( t )  a1 ( t )  a 2 xc ( t )  0
dt dt

IF THE FORCING FUNCTION IS A CONSTANT

A
f (t )  A  x p  is a particular solution
a2

A dx p d 2 x p
PROOF : x p    2
 0  a2 x p  A
a2 dt dt

FOR ANY FORCING FUNCTION f (t )  A

A
x ( t )   xc ( t ) 28
a2
 901 20100 02

Complementary (Homogeneous) Solution

d2x dx
2
(t )  a1 (t )  a2 x (t )  0 (HOMOGENEOUS EQUATION)
dt dt

NORMALIZED FORM a2   n2   n  a2
d2x dx a1
2
( t )  2 n ( t )   2
n x (t )  0 a1  2 n   
dt dt 2 a2

 n (undamped) natural frequency

 damping ratio

Assume

CHARACTERISTIC EQUATION
s 2  2 n s   n2  0
29
 901 20100 02

2 0 (CHARACTERISTIC EQUATION)

( s   n ) 2  ( n2   2 n2 )  0
s   n   2 n2   n2
s   n   n  2  1
CASE 1 :   1 (real and distinct roots)
CASE 2 :   1 (complex conjugate roots)
CASE 3 :   1 (real and equal roots)

CASE 1 :   1 (real and distinct roots) over-damped

, 1 (real, distinct negative)

x ( t )  K1e s1t  K 2e s2 t
30
 901 20100 02
CASE 2 :   1 (complex conjugate roots) under-damped

s   n  j n 1   2  d  damped oscillatio n frequency

s    j d   damping factor

x ( t )  K1e s1t  K 2e s2 t x (t ) real  K 2  K1*

x (t )  e t  A1 cos  d t  A2 sin  d t 

1
, ∓
2
x (t )  K1e s1t  K 2e s2 t

or
K 2  K1* 
  x (t )  2 Re K1e
s    j d 
 (  j d ) t
 31
 901 20100 02
CASE 3 :   1 (real and equal roots) critically-damped

s   n
x ( t )   B1  B2 t e  n t

Proof:

2
2 0 (Homogeneous Eq.)

t 0
t
32
 RLC PARALLEL CIRCUIT WITH 901 20100 02
Example
R  1, L  2 H , C  2 F

d 2 v 1 dv v
C 2   0
dt R dt L

NORMALIZED FORM
d 2 v dv v
2 2   0 d2x dx
dt dt 2 ( t )  2 ( t )   2
n x (t )  0
dt 2
n
dt
d 2 v 1 dv v
2
  0 1 1 1
dt 2 dt 4  n  ;  n   
or 2 4 2
s 1 1 3
s 2    ( s  )2   0 1
2 4 4 16 4
1 3 1 1 3
d   n 1   2  1 
4 4 2 4 4
t
 
4  A cos 3 3 
vc ( t )  e  1 t
t  A2 sin 33
 4 4 
EXAMPLE 7.9 901 20100 02
Find
R  2, L  5 H , C  1 F
5
i L (0)  1A, vC (0)  4V

STEP 1 MODEL STEP 3 FORM OF SOLUTION

i R  i L  iC  0 v (t )  K1e  2 t  K 2e 0.5t
v 1t dv
  v ( x )dx  i L (0)  C 0
R L0 dt

d 2v 1 dv 1   n  1;   1.5
  v 0 2.5 0
dt 2 RC dt LC
(over-damped case)
STEP 2 CHARACTERISTIC EQUATION

2.5 1 0

 2.5  (2.5) 2  4  2.5  1.5 0.5

s  2
2 2 34
 901 20100 02
v (t )  K1e  2 t  K 2e 0.5t

STEP 5: FIND CONSTANTS

To determine the constants we need

0
dv
v (0 ); (0 )
dt 0 2 0.5 Given: i L (0)  1A, vC (0)  4V
v (0 )  vC (0 )  vC (0)  4V IF NOT GIVEN FIND v C ( 0 ), i L ( 0 )

KCL AT t  0 
vC ( 0  ) dv
 i L (0 )  C (0 )  0
R dt
dv 4 (1)
(0 )     5
dt 2(1 / 5) (1 / 5)

K1  K 2  4 
  K1  2; K 2  2 v (t )  2e  2 t  2e 0.5t ; t  0
 2 K1  0.5 K 2  5 35
 901 20100 02

Over-damped response v (t )  2e  2 t  2e 0.5t ; t  0

i L (0)  1A, vC (0)  4V

36
EXAMPLE 7.10 901 20100 02

  vL  Find &

vR
vC R  6, L  1H , C  0.04F

v R  v L  vC  0  i L (0)  4 A; vC (0)  4V

di 1t
Model Ri (t )  L ( t )   i ( x )dx  vC (0)  0
dt C0

d 2 i R di 1
2
 ( t )  i (t )  0
dt L dt LC
2  n2  25   n  5
d i
 6
di
( t )  25i (t )  0 (under-damped)
dt 2 dt 2 n  6    0.6
Characteristic eqn. 6 25 0
 6  36  100 3
roots : s   3  j 4
2 4
3 t 37
Form of solution i (t )  e ( A1 cos 4t  A2 sin 4t )
 901 20100 02
i (t )  e 3t ( A1 cos 4t  A2 sin 4t )

Initial condition(s)
i ( 0)  i L ( 0)  4 A
di
TO COMPUTE (0  ) i L (0)  4 A; vC (0)  4V
dt
di
v L (t )  L (t )
dt
di di
L (0)   Ri (0)  vC (0)  (0 )  20
dt dt

Determine coefficient

0 4

di
(t )  3i (t )  e 3t ( 4 A1 sin 4t  4 A2 cos 4t ) @ t  0 :  20  3  (4)  4 A2  A2  2
dt

i (t )  e 3t (4 cos 4t  2 sin 4t )[ A]; t  0 38

 901 20100 02
i (t )  e 3t ( 4 cos 4t  2 sin 4t )[ A]; t  0

di 1t
vC (t )   Ri ( t )  L ( t )  vC (0)   i ( x )dx
dt C0

vC (t )  e 3t ( 4 cos 4t  22 sin 4t )[V ]; t  0

i L (0)  4 A; vC (0)  4V

39
EXAMPLE 7.11 901 20100 02

Find

KVL R1  10, R2  8, C  1F , L  2 H

KCL vC (0)  1V , i L (0)  0.5 A

di
L (t )  R1i (t )  v(t )  0
dt
v (t ) dv
i (t )   C (t )
R2 dt

 1 dv d 2v   v (t ) dv 
L (t )  C 2   R1   C ( t )   v (t )  0 Ch. Eq. : s 2  6 s  9  0
 R2 dt dt   R2 dt 
3, 3
d 2v  1 R1  dv R1  R2
( t )  
  
 ( t )  v (t )  0
dt 2
 R2C L  dt R2 LC v (t )  e 3t B1  B2 t 

d 2v dv
2
( t )  6 ( t )  9v ( t )  0  n  3, 2 n  6    1 (critically damped)
40
dt dt
 901 20100 02
v (t )  e 3 t
B1  B2t 

Initial conditions
v (0 )  vc (0 )  1V

KCL AT t  0 
v ( 0) dv
i (0)  i L (0)   C (0)
R2 dt
dv
 (0)  3
dt

Determine coefficients

v (0)  1  B1

dv
(0)  3v (0)  B2  3  B2  6
dt

v (t )  e 3t 1  6t ; t  0
41
EXAMPLE 7.13 901 20100 02
Find 0

0.04
1
6Ω
0 4
0 4

. .

1 12

6 25 600
42
 901 20100 02

6 25 600

Force response (DC steady state)

12

Nature response (complementary / homogeneous solution)

6 25 0 25 5
2 6 ⇒ = 0.6
1 4

4 4

Complete response
4 4 12 43
 901 20100 02

4 4 12

Find coefficients

0 4 12
0 4
⇒ 16 0 4
0
0 100 3 4

⇒ 13

16 4 13 4 12
44
 901 20100 02
Example Step Response with Different Damping

0 t  0
vS (t )  30u (t )
30 t  0
1
L  0.1H C F R  variable
640
 Find vC (t )

1 1/ 80
/
2ζω R/L  ζ

Initial Conditions: Steady State:

vC (0 )  vC (0- )  0 ∞ = 30 V
 
 i (0 ) i (0 )
vC (0 ) 
' C
 L
0 45
C C
 901 20100 02
Case 1: R = 34 
340 6400 0 (Homogeneous eqn.)
80 & ζ 17/8 over-damped
, 20, 320
30 32 2

Case 2: R = 5 
50 6400 0 (Homogeneous eqn.)
80 & ζ 5/16 under-damped
, 25 76
30 31.6 cos 76 161.8°

Case 3: R = 16 
160 6400 0 (Homogeneous eqn.)
80 & ζ 1 critically-damped
, 80, 80
46
30 30 2400
 901 20100 02
 
vc 0   0
vc    Vss  30V

 c
v   
0 
0

R = 34  vC (t)  30 - 32e-20t  2e-320t (V) , t  0

R = 16  vC (t)  30 - 30e-80t - 2400te-80t (V) , t  0

R=5 vC (t)  30  31.6e-25tcos(76t  161.8 ) (V)

Overdamped: longest time to steady state

Critically Damped: least time to steady state
without overshoot
Underdamped: Rapid initial rise
but oscillating ringing & overshoot
47
EXAMPLE 7.14 901 20100 02

Find for t > 0

Assume the circuit is in steady state at t = 0

Model for t > 0

24
1 24

48
 901 20100 02
1 24

10Ω ; 2Ω ; 2 ; 1/4

Circuit Eqn: 7 12 48

Characteristic Eqn: 7 12 0

, 3, 4

Form of solution:

Steady state t  ∞

49
∞ 4
 901 20100 02
Initial condition

t<0
0 2
0 1

t>0
0 0 2
0 0 1

0 0 2

0
Original circuit 0 0
/ /
= =0

50
 901 20100 02

∞ 4
0 2

0 0

∞ 4 8

0 2 6
4
0 0 3 4

8 6 4 )

51
 901 20100 02

Suggested exercises:

J. D. Irwin & R. M. Nelms “Engineering Circuit Analysis” 11 Ed.

Problem 7.11, 7.13, 7.39, 7.54, 7.59, 7.71, 7.75, 7.89, 7.95, 7.97, 7.99

52