s-Domain Circuit Analysis

Operate directly in the s-domain with capacitors, inductors and resistors

Key feature linearity is preserved Ccts described by ODEs and their ICs Order equals number of C plus number of L

Element-by-element and source transformation Nodal or mesh analysis for s-domain cct variables Solution via Inverse Laplace Transform Why?
Easier than ODEs Easier to perform engineering design Frequency response ideas - filtering
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Element Transformations
Voltage source Time domain i(t)
vS + _

v(t) =vS(t) i(t) = depends on cct

Transform domain

V(s) =VS(s)=L(vS(t)) I(s) = L(i(t)) depends on cct

Current source

I(s) =L(iS(t)) V(s) = L(v(t)) depends on cct

iS
v(t)

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166

Element Transformations contd

Controlled sources
v1(t ) = v2 (t ) ! V1( s ) = V2 ( s ) i1(t ) = "i2 (t ) ! i1(t ) = gv2 (t ) !
vSC (t ) = 0

I1( s ) = "I 2 ( s ) I1( s ) = gV2 ( s )

v1(t ) = ri2 (t ) ! V1( s ) = rI 2 ( s )

Short cct, open cct, OpAmp relations

iOC (t ) = 0 !

! VSC ( s ) = 0 I OC ( s ) = 0

v N (t ) = vP (t ) ! VN ( s ) = VP ( s )

Sources and active devices behave identically

Constraints expressed between transformed variables This all hinges on uniqueness of Laplace Transforms and linearity
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167

Element Transformations contd

Resistors
vR (t ) = RiR (t ) VR ( s ) = RI R ( s )
dv (t ) iC (t ) = C C dt I C ( s ) = sCVC ( s ) ! CvC (0!)
+ vR

iR

iR (t ) = GvR (t ) I R ( s ) = GVR ( s )
Z R ( s) = R

+ vC

iC

+ vL

iL

Capacitors

YR ( s ) =

1t vC (t ) = " iC (# )d# + vC (0) C0 v ( 0) 1 IC (s) + C sC s 1 Z C (s) = sC 1t iL (t ) = " vL (# )d# + iL (0) L0 VC ( s ) =

I L (s) = 1 i ( 0) VL ( s ) + L sL s Z L ( s ) = sL

1 R

Inductors
diL (t ) vL (t ) = L dt VL ( s ) = sLI L ( s ) ! LiL (0)

YC ( s ) = sC

YL ( s ) =

1 sL

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Element Transformations contd

Resistor
iR(t)
+ R

IR(s)

+ R

vR(t) -

VR(s) -

VR ( s ) = RI R ( s )

Capacitor
iC(t)
+ C vC(t) -

IC(s)

IC(s)
+

VC(s) -

1 sC

CvC (0)

1 sC
+ _

VC(s)

I C ( s ) = sCVC ( s ) CvC (0)

1 v (0) VC ( s ) = IC (s) + C sC s

vC (0) s

Note the source transformation rules apply!

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169

Element Transformations contd

Inductors
VL ( s ) = sLI L ( s ) LiL (0) IL(s)
+

I L (s) =

1 i (0) VL ( s ) + L sL s

IL(s)
sL + VL(s) + _ LiL(0) sL

iL(t)
+ vL(t) VL(s)

i L ( 0) s

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170

Example 10-1, T&R, 5th ed, p 456

RC cct behavior
Switch in place since t=-, closed at t=0. Solve for vC(t).
t=0

VA

+ vC -

R I1(s) I2(s)

1 sC

CvC (0)

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Example 10-1 T&R, 5th ed, p 456

RC cct behavior
Switch in place since t=-, closed at t=0. Solve for vC(t).
t=0

VA

+ vC -

R I1(s) I2(s)

1 sC

CvC (0)

vC (0) = V A Initial conditions s-domain solution using nodal analysis V (s) V (s) I1( s ) = C I 2 (s) = C = sCVC ( s ) 1 R sC t-domain solution via inverse Laplace transform
VA VC ( s ) = 1 s+ RC
MAE140 Linear Circuits

vc (t ) = V Ae

!t

RC u (t )

172

Example 10-2 T&R, 5th ed, p 457

R

Solve for i(t)

R VAu(t) + _ L

VA s

+ + _ I(s) + _ sL

VL (s )
-

i(t)

LiL(0)

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173

Example 10-2 T&R, 5th ed, p 457

R

Solve for i(t)

R VAu(t) + _ L

VA s

+ + _ I(s) + _ sL

VL (s )
-

i(t)

LiL(0)

KVL around loop Solve

VA

VA ! ( R + sL) I ( s ) + LiL (0) = 0 s

VA # & %iL (0) " V A ( R' R +$ s s+ RL

I(s) =

L + iL (0) = s s+ RL s+ RL

Invert !

Rt & #V A V A " Rt L + i (0)e" L u(t) Amps i(t) = % " e ( L R R $ '

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Impedance and Admittance

Impedance (Z) is the s-domain proportionality factor relating the transform of the voltage across a two-terminal element to the transform of the current through the element with all initial conditions zero V (s) = Z(s)I(s) Admittance (Y) is the s-domain proportionality factor relating the transform of the current through a two-terminal element to the transform of the ! voltage across the element with initial conditions zero I(s) = Y (s)V (s) Impedance is like resistance Admittance is like conductance !
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175

Circuit Analysis in s-Domain

Basic rules
The equivalent impedance Zeq(s) of two impedances Z1(s) and Z2(s) in series is Z eq ( s ) = Z1( s ) + Z 2 ( s ) Same current flows I(s)
+ V(s) -

Z1 Z2

V ( s ) = Z1( s ) I (s )+ Z 2 ( s ) I ( s ) = Z eq ( s ) I (s )

The equivalent admittance Yeq(s) of two admittances Y1(s) and Y2(s) in parallel is Yeq ( s ) = Y1( s ) + Y2 ( s ) Same voltage I(s)
+ V(s) MAE140 Linear Circuits

I ( s ) = Y1( s )V ( s ) + Y2 ( s )V ( s ) = Yeq ( s )V ( s )

Y1

Y2
176

Example 10-3 T&R, 5th ed, p 461

Find ZAB(s) and then find V2(s) by voltage division
A v1(t) + _ B L + C R v2(t) B A V1(s) + _ sL + R V2(s) -

1 sC

1 = + 1 = RLCs 2 + Ls + R Z eq ( s ) = sL + R sL 1+ sC RCs + 1 sC R

& Z1( s ) # & # R V2 ( s ) = $ V1( s ) = $ V (s) ! 2 + sL + R ! 1 % RLCs " $ Z eq ( s ) ! % "

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177

Superposition in s-domain ccts

The s-domain response of a cct can be found as the sum of two responses
1. The zero-input response caused by initial condition sources, with all external inputs turned off 2. The zero-state response caused by the external sources, with initial condition sources set to zero Linearity and superposition

Another subdivision of responses

1. Natural response the general solution Response representing the natural modes (poles) of cct 2. Forced response the particular solution Response containing modes due to the input
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Example 10-6, T&R, 5th ed, p 466

The switch has been open for a long time and is closed at t=0. Find the zero-state and zero-input components of V(s) Find v(t) for IA=1mA, L=2H, R=1.5K, C=1/6 F
+ v(t) IA L R C +
t=0

IA s

sL

1 sC

V(s) RCIA -

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179

Example 10-6, T&R, 5th ed, p 466

The switch has been open for a long time and is closed at t=0. Find the zero-state and zero-input components of V2(s) Find v(t) for IA=1mA, L=2H, R=1.5K, C=1/6 F
+ v(t) IA L R C +
t=0

IA s

sL

1 sC

V(s) RCIA -

IA IA C Vzs ( s ) = Z eq ( s ) = 1 RLs = Z eq ( s) = s s2 + 1 s + 1 2 + Ls + R 1 +1+ sC RLCs RC LC sL R RI A s Vzi ( s ) = Z eq ( s ) RCI A = 1 1 s2 + s+ RC LC180 MAE140 Linear Circuits

Example 10-6 contd

I C Vzs ( s ) = Z eq ( s ) A = s s2 + 1 s + 1 IA RC LC s RI A s Vzi ( s ) = Z eq ( s ) RCI A = 1 1 s2 + s+ RC LC IA
+

sL

1 sC

V(s) RCIA -

Substitute values

Vzs (s) =

6000 3 "3 = + (s + 1000)(s + 3000) s + 1000 s + 3000 v zs (t) = 3e"1000t " 3e"3000t u(t)

Vzi (s) =
!

1.5s "0.75 2.25 = + (s + 1000)(s + 3000) s + 1000 s + 3000 v zi (t) = "0.75e"1000t + 2.25e"3000t u(t)

What are the natural and forced responses?

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181

Example
Formulate node voltage equations in the s-domain
R1 v1(t) + _ C1 C2 R3 R2 + vx(t) + + vx(t) v (t) 2 -

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182

Example
Formulate node voltage equations in s-domain
R1 v1(t) + _ C1 C2 R3 R2 + vx(t) + + vx(t) v (t) 2 -

A V1(s) + _

R1

B R3

1 sC1
C1vC1(0)

C + Vx(s) -

R2

+ Vx(s) V (s) 2 -

1 sC2

C2vC2(0)
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Example contd
A V1(s) + _

R1

B R3

1 sC1
C1vC1(0)

C + Vx(s) -

R2

+ Vx(s) V (s) 2 -

1 sC2

C2vC2(0)

Node A: V A ( s) = V1( s) Node B:

Node D: VD ( s) = Vx ( s) = VC ( s)

VB (s) " V A (s) VB (s) " VD (s) VB (s) + + 1 R1 R2 sC1 V (s) " VC (s) + B " C1vC1 (0) " C2vC 2 (0) = 0 1 sC2

Node C:
!

"sC2VB (s) + [ sC2 + G3 ]VC (s) = "C2vC 2 (0)

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Example
Find vO(t) when vS(t) is a unit step u(t) and vC(0)=0
A vS(t) + _ R1 B C + C R2 D + vO(t)

Convert to s-domain

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185

Example
Find vO(t) when vS(t) is a unit step u(t) and vC(0)=0
A vS(t) + _ R1 B C + VA(s) VS(s) + _ R1 CvC(0) C R2 D + vO(t)

Convert to s-domain

1 VB(s) sC VC(s) R2 VD(s)

+ -

+ VO(s)

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186

Example
Nodal Analysis

VA(s) VS(s) + _

R1

1 VB(s) sC VC(s) R2 VD(s)

+ -

+ VO(s)

CvC(0) Node A: V A ( s ) = VS ( s ) Node D: VD ( s ) = VO ( s ) Node C: VC ( s ) = 0 Node B: (G1 + sC )VB ( s ) ! G1VS ( s ) = CvC (0) Node C KCL: ! sCVB ( s ) ! G2VO ( s ) = !CvC (0) Solve for VO(s) # sG1C & # & % R s G2 ( (V (s) VO (s) = "% VS (s) = "% 2 ) ( % R1 s + 1 ( S G1 + sC % ( R1C ' $ $ ' # & R s 1 ( 1 = "R2 ) = "% 2 ) % R1 s + 1 ( s R1 s + 1 R1C ' R1C $

Invert LT
MAE140 Linear Circuits

t R2 R C vO (t ) = e 1 u (t ) R1

187

Features of s-domain cct analysis

The response transform of a finite-dimensional, lumped-parameter linear cct with input being a sum of exponentials is a rational function and its inverse Laplace Transform is a sum of exponentials The exponential modes are given by the poles of the response transform Because the response is real, the poles are either real or occur in complex conjugate pairs The natural modes are the zeros of the cct determinant and lead to the natural response The forced poles are the poles of the input transform and lead to the forced response
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188

Features of s-domain cct analysis

A cct is stable if all of its poles are located in the open left half of the complex s-plane
A key property of a system Stability: the natural response dies away as t Bounded inputs yield bounded outputs

A cct composed of Rs, Cs and Ls will be at worst marginally stable

With Rs in the right place it will be stable Z(s) and Y(s) both have no poles in Re(s)>0

Impedances/admittances of RLC ccts are Positive Real or energy dissipating

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189