Lecture Notes for EE-226 Circuit Analysis-II

Dr. Ghulam Mustafa

Professor, Department of Electrical Engineering

Pakistan Institute of Engineering & Applied Sciences
Email: gm@[Link], Homepage: [Link]/gm
 Lecture-5
Second-Order Circuits

What are Second-Order Circuits?

The Natural Response of a Parallel RLC Circuit

The Step Response of a Parallel RLC Circuit

The Natural and Step Response of a Series RLC Circuits

A Special Case of Second-Order Circuits

5-1
 Second-Order Circuits
[center]

Circuits that are characterized by a second-order differential equation.

Examples: Series and parallel RLC circuits

What are Second-Order Circuits? 5-2

 The Natural Response of a Parallel RLC Circuit
[center]
Consider the circuit shown in Figure. Find the expression for v(t) for t ≥ 0.

According to Kirchoff’s current law

1 t
Z
v dv
+ vdτ + I0 + C = 0.
R L 0 dt
Integrating and re-arranging
d2 v 1 dv v
2
+ + = 0.
dt RC dt LC
The Natural Response of a Parallel RLC Circuit 5-3
 The Natural Response of a Parallel RLC Circuit
[center]
Assume a solution of the form (why?)
v = Aest
This solution should satisfy the differential equation
 
st 2 s 1
Ae s + + =0
RC LC
For the LHS to be zero
s 1
+ s2 += 0 (characteristic equation)
RC LC
The roots of characteristic equation are
s 2 s 2
1 1 1 1 1 1
s1 = − + − , s2 = − − −
2RC 2RC LC 2RC 2RC LC

The Natural Response of a Parallel RLC Circuit 5-4

 The Natural Response of a Parallel RLC Circuit
[center]
The solution is satisfied with either root substituted, and this happens regardless of the
value of A. Therefore, we take general form of the solution as
v = A1 es1 t + A2 es2 t
This solution satisfies the differential equation
   
s1 t 2 1 1 s2 t 2 1 1
A1 e s1 + s1 + + A2 e s2 + s2 + =0
RC LC RC LC
because
1 1 1 1
s21 + s1 + = 0 and s22 + s2 + =0
RC LC RC LC
1 1
Defining α = 2RC and ω0 = √LC , we can write the roots as
q q
s1 = −α + α2 − ω02 , s2 = −α − α2 − ω02
α is called the Neper frequency and ω0 is called the resonant radian frequency.
The Natural Response of a Parallel RLC Circuit 5-5
 The Natural Response of a Parallel RLC Circuit
[center]

The nature of roots s1 and s2 depends on the values of α and ω0 , which in turn are
determined by the component values R, L and C. Three possibilities can occure:

▶ ω02 < α2 , roots will be real and distinct. The voltage response is said to be
overdamped.
▶ ω02 > α2 , roots will be complex and conjugate of each other. The voltage
response is said to be underdamped.
▶ ω02 = α2 , roots will be equal. The voltage response is said to be critically
damped.

The Natural Response of a Parallel RLC Circuit 5-6

 The Overdamped Voltage Response
[center]
In this case the roots s1 and s2 are real and distinct. The voltage solution will be
v = A1 es1 t + A2 es2 t
The constants A1 and A2 are determined from the initial conditions.
v(0+ ) = A1 + A2
dv(0+ )
= s1 A1 + s2 A2
dt
v(0+ ) is the value of the initial voltage across the capacitor, dv(0+ )/dt is determined
from the capacitor current at t = 0+
dv(0+ ) iC (0+ )
=
dt C
iC (0+ ) is determined by using Kirchoff’s law at t = 0+ .
V0
iC (0+ ) = − − I0
R
The Natural Response of a Parallel RLC Circuit 5-7
 The Overdamped Voltage Response
[center]
The procedure for finding the overdamped voltage response is as follows:

1. Find the roots of the characteristic equation, s1 and s2 , using the values of R, L
and C.
2. Find v(0+ ) and dv(0+ )/dt using circuit analysis.
3. Find the values of A1 and A2 by solving the following equations simultaneously:

v(0+ ) = A1 + A2
dv(0+ ) iC (0+ )
= = s1 A1 + s2 A2
dt C
4. Substitute the values for s1 , s2 , A1 , and A2 in the following equations to
determine the expression for v(t) for t ≥ 0.

v(t) = A1 es1 t + A2 es2 t , t ≥ 0.

The Natural Response of a Parallel RLC Circuit 5-8
 Example
[center]
For the circuit shown, v(0+ ) = 12V, and iL (0+ ) = 30A.

1. Find the initial current in each branch of the circuit.

2. Find the initial value of dv/dt.
3. Find the expression for v(t).
4. Sketch v(t) in the interval 0 ≤ t ≤ 250ms.

The Natural Response of a Parallel RLC Circuit 5-9

 Example
[center]
1.
iL (0− ) = iL (0) = iL (0+ ) = 30 mA.

iR (0+ ) = V0 /R = 12/200 = 60 mA.

Using Kirchoff’s current law
iC (0+ ) = −iL (0+ ) − iR (0+ ) = −90 mA.
2. Because iC = C(dv/dt)
dv(0+ ) −90 × 10−3
= = −450 kV/s
dt 0.2 × 10−6
3. The roots of the characteristic equation are
s1 = −5000 rad/s, s2 = −20000 rad/s.
Because the roots are real and distinct, the response is overdamped.
The Natural Response of a Parallel RLC Circuit 5-10
 Example
[center]

To find the coefficients A1 and A2

12 = A1 + A2
−450 × 103 = −5000A1 − 20000A2

Solving, A1 = −14V and A2 = 26V. The

voltage response is then

v(t) = −14e−5000t + 26e−20000t V, t ≥ 0.

The Natural Response of a Parallel RLC Circuit 5-11

 The Underdamped Voltage Response
[center]
When ω02 > α2 , the roots of the characteristic equation are complex and the response
is underdamped.
q
s1 = −α + −(ω02 − α2 )
q
= −α + j ω02 − α2
q
= −α + jωd , ωd = ω02 − α2
s2 = −α − jωd
ωd is called the damped radian frequency. The underdamped voltage response is
then
v(t) = B1 e−αt cos wd t + B2 e−αt sin ωd t

The Natural Response of a Parallel RLC Circuit 5-12

 The Underdamped Voltage Response
[center]
s t
v = A1 e 1
+ A2 e s 2 t
= A1 e(−α+jωd )t + A2 e−(α+jωd )t
= A1 e−αt ejωd t + A2 e−αt e−jωd t
= e−αt (A1 cos ωd t + jA1 sin ωd t + A2 cos ωd t − jA2 sin ωd t) ∵ e±jθ = cos θ ± j sin θ
= e−αt [(A1 + A2 ) cos ωd t + j(A1 − A2) sin ωd t]
= e−αt [B1 cos ωd t + B2 sin ωd t]
= B1 e−αt cos ωd t + B2 sin ωd t
The coefficients B1 and B2 are determined from
v(0+ ) = V0 = B1
dv(0+ ) iC (0+ )
= = −αB1 + ωd B2
dt C
The Natural Response of a Parallel RLC Circuit 5-13
 Example
[center]
For the circuit shown, V0 = 0, and I0 = −12.25mA.

▶ Calculate the roots of the characteristic equation.

▶ Calculate v and dv/dt at t = 0+ .
▶ Calculate the voltage response.
▶ Plot v(t) versus t for the 0 ≤ t ≤ 11ms.

The Natural Response of a Parallel RLC Circuit 5-14

 Example
▶
[center]
1
α= = 200 rad/s
2RC
1
ω0 = √ = 103 rad/s
LC
p
Since ω02 > α2 , the response is underdamped. Then ωd = ω02 − α2 = 979.80
rad/s.
s1 = −200 + j979.80 rad/s
s2 = −200 − j979.80 rad/s.
▶ v(0) = v(0+ ) = V0 = 0. and iC (0+ ) = −(−12.25) = 12.25mA. Then
dv(0+ ) iC (0+ )
= = 98000 V/s.
dt C
▶ From initial conditions B1 = 0 and B2 = 98000
ωd ≈ 100 V.

The Natural Response of a Parallel RLC Circuit 5-15

 Example
[center]
v(t) = 100e−200t sin 979.80t, V, t ≥ 0.

The Natural Response of a Parallel RLC Circuit 5-16

 The Critically Damped Voltage Response
[center]
When ω0 = α, the response is critically damped; the response is at the verge of
oscillating. The two roots of characteristic equation are equal.
1
s1 = s2 = −α = −
2RC
The solution then becomes

v = (A1 + A2 )e−αt

This solution cannot satisfy two initial conditions, V0 and I0 with one arbitrary
constant. Therefore

v(t) = D1 te−αt + D2 e−αt

The Natural Response of a Parallel RLC Circuit 5-17

 The Critically Damped Voltage Response
[center]
To determine D1 and D2

v(0+ ) = V0 = D2
d −αt
v(t) = D1 (e−αt−αte ) − D2 αe−αt
dt
dv(0+ )
= D1 − αD2
dt

dv(0+ ) iC (0+ )
=
dt C
+ V0
iC (0 ) = − − I0
R

The Natural Response of a Parallel RLC Circuit 5-18

 The Step Response of a Parallel RLC Circuit
[center]

KCL gives
V dv
iL + iC + iR = I, =⇒ iL + +C =I
R dt
Since v = L didtL
L diL d2 iL
iL + + LC 2 = I
R dt dt
d2 iL 1 diL iL I
2
+ + =
The Step Response of a Parallel RLC Circuit dt RC dt LC LC 5-19
 The Step Response of a Parallel RLC Circuit
[center]
The solution of a second-order differential equation with constant forcing function
equals the forced response plus a response function identical in form to the natural
response.

x = xf + {function of the same form as the natural response}

where x = i, v. For iL , it will be

′ ′
iL (t) = If + A1 es1 t + A2 es2 t
′ ′
= If + B1 e−αt cos ωd t + B2 e−αt sin ωd t
′ ′
= If + D1 te−αt + D2 e−αt

The Step Response of a Parallel RLC Circuit 5-20

 Example
[center]
The initial energy stored in the circuit in figure is zero. At t = 0, a dc current source of
24 mA is applied to the circuit. The value of the resistor is 400 Ω.

1. What is the initial value of iL ?

2. What is the initial value of diL /dt?
3. What are the roots of the characteristic equation?
4. What is the expression for iL (t) for t ≥ 0?

The Step Response of a Parallel RLC Circuit 5-21

 Example
[center]
1.
iL (0) = 0
2.
diL diL +
v=L =⇒ (0 ) = 0.
dt dt
3.
1
ω02 = = 16 × 108
LC
 2
2 1
α = = 25 × 108
2RC
Because ω02 < α2 , the roots of the characteristic equation are
s1 = −20000 rad/s, s2 = −80000 rad/s.
The Step Response of a Parallel RLC Circuit 5-22
 Example
[center]
4. The current response will be
′ ′
iL (t) = If + A1 es1 t + A2 es2 t

From initial conditions

′ ′
iL (0) = If + A1 + A2
diL ′ ′
(0) = s1 A1 + s2 A2
dt
′ ′
Solving A1 = −32 mA and A2 = 8 mA. Then

iL (t) = (24 − 32e−20000t + 8e−80000t ) mA, t ≥ 0.

The Step Response of a Parallel RLC Circuit 5-23

 Example
[center]
With R=625Ω, the current response will be underdamped.
lL (t) = (24 − 24e−32000t cos 24000t − 32e−32000t sin 24000t) mA, t ≥ 0.
And, if R=500Ω, the current response will be critically damped.
lL (t) = (24 − 96000te−40000t − 24e−40000t ) mA, t ≥ 0.

The Step Response of a Parallel RLC Circuit 5-24

 The Natural and Step Response of Series RLC Circuits
[center]
The procedure to find the response is the same as for parallel RLC circuit.

Z t
di 1
Ri + L + idτ + V0 = 0
dt C 0
The Natural and Step Response of a Series RLC Circuits 5-25
 The Natural and Step Response of Series RLC Circuits
[center]
Differentiating and re-arranging
d2 i R di i
2
+ + = 0.
dt L dt LC
The characteristic equation is
R 1
s2 + s+ = 0.
L LC
s 
R R 2 1
s1,2 =− ± −
2L 2L LC
q
= −α ± α2 − ω02

R 1
α= rad/s, ω0 = √ rad/s.
2L LC
The Natural and Step Response of a Series RLC Circuits 5-26
 The Natural and Step Response of Series RLC Circuits
[center]

The current response will be overdamped, underdamped or critically damped

depending on the nature of roots.

i(t) = A1 es1 t + A2 es2 t

i(t) = B1 e−αt cos ωd t + B2 e−αt sin ωd t
i(t) = D1 te−αt + D2 e−αt

The Natural and Step Response of a Series RLC Circuits 5-27

 The Natural and Step Response of Series RLC Circuits
[center]

KVL gives
di
V = Ri + L + vc
dt
2
since i = C dv
dt and
c di
dt = C ddtv2c
d2 vc R dvc vc V
2
+ + = .
dt L dt LC LC
The Natural and Step Response of a Series RLC Circuits 5-28
 The Natural and Step Response of Series RLC Circuits
[center]

The three possible solutions for vc are as follows

′ ′
vc (t) = Vf + A1 es1 t + A2 es2 t (overdamped)
′ ′
vc (t) = Vf + B1 e−αt cos ωd t + B2 e−αt sin ωd t(underdamped)
′ ′
vc (t) = Vf + D1 te−αt + D2 e−αt (critically damped)

The Natural and Step Response of a Series RLC Circuits 5-29

 Example
[center]
8.5 A Circuit with Two Integrating Amplifiers 289

N T P RThe
O Bswitch
L E M Sin the circuit shown has been in position a for a long time. At t = 0, it
moves the
to determine to position b. Find and the step response of series RLC circuits
natural response

the circuit
1. i(0shown
+ ); has been in 9 k" a b 80 " 5 mH
a long time. At t = 0, it moves to
(0+vC);(0+);
2.+);vC(b) i
d (a) i(0 ! t!0 !
(d) s1, s3.2; and
di(0(e) i(t) for t Ú 0.
+ )/dt; 80 V 15 k# ! 100 V
" vc 2 mF "
4. s1 , s2 and
5. i(t) for t ≥ 0.
A>s; 8.8 Find vC(t) for t Ú 0 for the circuit in
Assessment Problem 8.7.
0 + j6000) rad>s,
0 - j6000) rad>s;
The Natural and Step Response of a Series RLC Circuits Answer: [100 - e-8000t(50 cos 6000t 5-30
 Example
[center]
1.

iL (0+ ) = iL (0− ) = 0

2.
15k
vC (0+ ) = vC (0− ) = 80 × = 50 V
(15 + 9)k

3.
diL +
−100 + L (0 ) + 80i(0+ ) + 50 = 0
dt
di +
(0 ) = 10000 A/s
dt

The Natural and Step Response of a Series RLC Circuits 5-31

 Example
[center]
4.
R
α= = 8000 rad/s
2L
1
ω0 = √ = 10000 rad/s
LC
Then
s1,2 = −8000 ± j6000 rad/s
5.
h ′ ′
i
i(t) = if + e−αt B1 cos ωd t + B2 sin ωd t

if = 0, i(0+ ) = B1 = 0, and
di + ′ ′ ′
(0 ) = −αB1 + ωd B2 = 10000 =⇒ B2 = 1.67.
dt
Therefore i(t) = 1.67e−8000t sin 6000t A, t ≥ 0.
The Natural and Step Response of a Series RLC Circuits 5-32
 A Circuit with Two Integrating Amplifiers
[center]

Summing currents at the inverting input of the first integrator

0 − vg 0 − vo1 d
+ + C1 (0 − vo1 ) = 0
Ra R1 dt
dvo1 vo1 vg
+ =− , τ1 = R1 C1
dt τ1 R a C1
A Special Case of Second-Order Circuits 5-33
 A Circuit with Two Integrating Amplifiers
[center]
Summing currents at the inverting input of the second integrator
0 − vo1 0 − vo d
+ + C2 (0 − vo ) = 0
Rb R2 dt

d2 vo 1 dvo 1 dvo1
2
+ =− , τ2 = R2 C2
dt τ2 dt Rb C2 dt
dvo1 vo1 vg
=− −
dt τ1 R a C1
and
dvo Rb C2
vo1 = −Rb C2 − vo
dt τ2
d2 vo
   
1 1 dvo 1 vg
2
+ + + vo = .
dt τ1 τ2 dt τ1 τ2 Ra C1 Rb C2
A Special Case of Second-Order Circuits 5-34
 A Circuit with Two Integrating Amplifiers
[center]

The characteristic equation is

 
2 1 1 1
s + + + =0
τ1 τ2 τ1 τ2

The roots of the characteristic equation are:

1 1
s1 = − , s2 = −
τ1 τ2

A Special Case of Second-Order Circuits 5-35