S.

Osowski, Circuits and Systems, Electronic book

Chapter 10
Transient in RLC circuits at DC excitation

Important phenomena appear in circuits containing RLC elements after exciting them by DC
source. The chapter will study these phenomena in series connection of RL, RC and RLC
elements.

10.1 Transient phenomena in RL circuit

Let us consider transient in RL circuit supplied by DC source e(t)=E at time t=0. Initial

condition i L( 0− )=0 (circuit was deprived of excitation at t<0).

Fig. 10.1. Series RL circuit supplied by e(t)=E at t=0

The Laplace model of circuit after closing switch is shown in Fig. 10.2.

Fig. 10.2. Laplace model of circuit from fig. 10.1 in transient analysis

Current IL(s) is now described by

(10.1)
There are two poles

(10.2)

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From residuum theorem we get immediately

t
E ( −
i L(t )= 1−e L/R
R
)
(10.3)
After introducing time constant τ
L
τ=
R (10.4)
we can present final solution in the form
t
E −
(
i L(t )= 1−e τ
R
)
(10.5)

It is easy to show, that after 5τ the current achieves 99,3% of its steady values,
therefore, we can conclude that transient in RL circuit lasts for approximately 5τ. Fig. 10.3
presents the transient current at 3 different time constants.

Fig. 10.3. Transient current curves in RL circuit at three different time constants

The value of time constant can be also estimated on the basis of curve at t=τ , since in this
time point the current reaches the value

(10.6)

The time corresponding to points to time constant as shown in Fig. 10.4.

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Fig. 10.4. Illustration of procedure of estimation of time constant in RL cuircuit

di L
u L=L
The voltage on inductor can be obtained from equation dt . As a result we get
t
di L( t ) −
L/ R
u L (t )=L = Ee
dt (10.7)
Its changes versus time for three different time constants are presented in Fig. 10.5.

Fig. 10.5. The transient voltage on inductor in RL circuit

Voltage on the resistor has the same shape as the current and is described by
t
u R (t )=Ri L (t)=E 1−e ( −
L/ R ) (10.8)

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10.2 Transient phenomena in RC circuit

The circuit structure is shown in Fig. 10.6.

Fig. 10.6. Series RC circuit supplied by e(t)=E at t=0

Once again it is evident that uC ( 0− )=0 . After turning on the switch the
Laplace model of circuit structure looks like in Fig. 10.7.

Fig. 10.7 Laplace model of circuit from fig. 10.6 in transient analysis

Current and voltage UC(s) is now described by

(10.9)

(10.10)

There is only one pole s 1=−1/( RC ) . Thus the time response of circuit is described by
t
(
uC (t )=E 1−e
−
RC ) (10.11)
Introducing time constant τ =RC we can present the voltage function as follows

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t
uC (t )=E 1−e( ) −
τ
(10.12)
Its time curves for three different time constants are presented in Fig. 10.8.

Fig. 10.8. Transient voltage curves in RC circuit at three different time constants

duC
iC =C
The current in the circuit is described by dt . Using it we get
t
duc ( t ) E − RC
iC (t )=C = e
dt R (10.13)
Its graphical change in time is presented in Fig. 10.10.

Fig. 10.10. The current in transient period in RC circuit

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As we can see the transient curves in RL and RC circuits obey the same rules and take similar
exponential form. Only current in RL and voltage in RC circuits are continuous in time
(according to commutation laws). The voltage in RL and current in RC circuits experience the
jump at time of changing in the circuit.

10.3 Transient phenomena in RLC circuit

Concider transient phenomena in series RLC circuit (Fig. 10.11) after supplying it by DC
source E.

Fig. 10.11. Series RLC circuit in transient analysis

Let us build the Laplace model of this circuit after turning on the switch. Due to zero initial
−
conditions uC (0 )=0 , i L( 0 )=0
−
this model is simplified and shown in Fig. 10.12.

Fig. 10.12 Laplace model of RLC circuit in transient period

From KVL written for this circuit we get

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E/ s E/L
I ( s )= =
sL+ R+1/ sC R 1
s2 + s+
L LC (10.14)
Transient response is dependent on the roots of denominator
R 1
s 2+ s+ =0
L LC (10.15)
which are described by

R R 2 1
s 1=−
2L
+
√( 2L
−)LC (10.16)

R R 2 1
s 2=− −
2L 2L
−
LC √( ) (10.17)
Now we can recognize three cases.

L
 Damped (aperiodic) case, when
R>2
√ C .
L
 Critically damped case, when
R=2
√ C .

L
 Oscillatory case, when
R<2
√ C .

L
The resitance
R=2
√ C is called critical R kr .

10.3.1 Damped case

Applying residuum rule we get the time form of current i(t ) as follows
E
i( t )= [ e s t −e ]
1 s2 t

R 2 1
2L
√( 2L
− )
LC (10.18)
The other variables in circuit are obtained in similar way. Thus we get

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1 E 1
U C ( s )= I ( s )=
sC LC R 1
(
s s2 + s+
L LC ) (10.19)

E
uC ( t )= E+ ( s2 e s t −s e )
1
1
s2 t

R 2 1
2
√( 2L
− )
LC (10.20)

di E s1t s t
u L (t )=L
dt
= [s e
1 −s2 e 2 ]
R 2 1
2
√( 2L
− )
LC (10.21)

Fig. 10.13 presents the transient curves in this aperiodic case for particular values of
R = 2.3, C = 1F i L = 1H and E = 1V.

Fig. 10.13. Typical transient curves in RLC circuit in damped case

Fig. 10.14 shows the voltage change for three different values of resistances related to

R
α=
damping coefficient 2L .

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R
α=
Fig. 10.14. Voltage waveforms for three different values of 2L

10.3.2 Critically damped case

L
Critically damped case appears when
R=2
√ C . In such case both poles are equal and
solution for I(s) can be expressed in the form

(10.22)
R
s 1=s2=− =−α
Introducing notation 2L and applying residuum rule we obtain the

function describing the current i(t )

R
E − t
i(t )= te 2 L
L (10.23)
The rest of variables in this case is determined as follows
R
− t
di R
u L (t )=L = Ee 2 L 1− t
dt 2L ( ) (10.24)
R
t
−
R
uC ( t )= E−Ri L ( t )−u L( t )= E− Ee 2L
( 1+
2L
t ) (10.25)

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Fig. 10.15 shows the capacitor voltage curves for critical resistance (critically dampled case)
and resistance higher than critical (damped case). Critical resistance provides the shortest
possible time of transient.

Fig. 10.15 The capacitor voltage curves for critical resistance (critically damped case) and for
resistance higher than critical (damped case).

10.3.3 Oscillatory case

L
Oscillatory case in series RLC circuit appears, when
R<2
√ C (small value of resistance).
In such case the roots are complex. Therefore, I(s) will be presented in the form suitable to
associate with transform of exponentially damped sinusoidal signal

1 R2
I ( s )=
E/ L
2 R 1
= √ − 2
LC 4 L
2
⋅
E/ L
1 R2
R 2 R2
s + s+
L LC s+(2L
+ ) (√ 1
− 2
LC 4 L )√ −
LC 4 L2
(10.26)
Let us introduce

1 R2
ω=
√ − 2
LC 4 L (10.27)

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R
α=
as the angular frequency of natural oscillations and damping coefficient 2L . Then the
current can be presented in a very simple form
R
E −2 L t
i( t )= e sin (ωt )
ωL (10.28)
On the basis of definition the inductor voltage takes the form
R
− t
di E
u L (t )=L =− e 2L sin (ωt−ϕ )
dt ω √ LC (10.29)
where
ω
ϕ=ar ctg
R/2 L (10.30)
Capacitor voltage is obtained from KVL applied to the circuit of Fig. 10.11
R
E − t L
[
uC (t )=E−u L (t )−Ri(t )=E− e 2 L R sin(ωt )− sin (ωt−ϕ )
ωL C √ ] (10.31)

Fig. 10.16 shows the transient responses of current and voltages in RLC circuit in this

L
oscillatory case (
R<2
√ C ).

Fig. 10.16 Transient responses of RLC circuit in oscillatory case

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R
α=
Time of oscillations is controlled by the damping coefficient 2L depending linearly on
value of resistance. The higher this value, the more damped are sinusoidal waveforms and
shorter transient time. Fig. 10.17 depicts these relations for three values of resistances.

Fig. 10.17 Illustration of influence of resistance values on transient responses in oscillatory

case

Very special case is obtained when the resistance is reduced to zero. In such case the damping
coefficient is zero and we observe not damped (true sinusoidal) waveforms,as shown in Fig.
10.18.

Fig. 10.18 Sinusoidal waveform generated in LC circuit (R=0)

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This phenomenon is used in generation of harmonic signals, by using LC circuits working all
the time in transient state.

10.4 Solved problems

Problem 10.1
Calculate uC(t) in transient state of circuit presented in Fig. 10.19. Assume: R=10k,

C=10F, i( t )=I =2mA .

Fig. 10.19. Circuit structure in problem 10.1

Solution
Initial conditions are calculated in simplified circuit (DC excitation) in structure before
switching, as shown in Fig. 10.20.

Fig. 10.20. Circuit structure used in initial calculations

Simple analysis of this circuit leads to

uC ( t )=u C ( 0− )=IR=20V
Laplace model of circuit is presented in Fig. 10.21

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Fig. 10.21. Laplace model of circuit in transient state

From nodal analysis we get immediately

Poles of the system are now

Applying residuum method in inverse transformation leads to final solution

uC ( t )=10 ( 1+e−20 t )

Time constant of this circuit is equal

Problem 10.2
Calculate iL(t) in transient state of the circuit presented in Fig. 10.22. Assume: R=2, R1=5,

L=2H, e(t )=20 √ 2sin(t )

Fig. 10.22. Circuit structure in problem 10.2

Solution
Initial conditions are calculated on the basis of circuit structure before switching (Fig. 10.23)

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Fig. 10.23. Circuit structure in calculation of initial condition for iL(0+)

Using complex symbolic method for this AC supplied circuit we get

ω=1

Z L = jωL= j 2
2⋅j 2
Z RL= =1+ j 1
2+ j 2

Transient response is calculated for circuit deprived of external excitation. All changes of
current result from non-zero initial conditions. Fig. 10.24 presents Laplace model of the
circuit.

Fig. 10.24 Laplace model of circuit in transient state

The current IL(s) is described by

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There is single pole s1, which is calculated as below

5 5
s + =0→ s1 =−
6 6
The time response is now determined from residuum theorem and takes the form

Problem 10.3

The elements of series RLC circuit are equal: L=0,01H and C=1μF . Determine the
changes of natural angular frequency versus resistance R

Solution
The natural angular frequency is described by

Critical resistance Rkr

L
R kr =2
√ C
=200Ω

Fig. 10.25 presents the changes of angular frequency as a function of resistance. At R= Rkr the
oscillatory case disappears.

Fig. 10.25. Change of angular frequency in RLC circuit resistance resistance R

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Problem 10.4
Determine the character of transient responses in series RLC circuit at following parameters
L=0,1H, C=10-5F and resistance values: a)R=50, b)R=200, c)R=500.

Solution
Character of responses depends on the value of critical resistance. Its value is equal

L
R kr =2
√ C
=200Ω

In the considered cases of resistance values we get:

a) R< R kr → oscillatory case

b) R=Rkr → critically damped case

c) R> R kr → damped case

10.5 Test problems

Test 10.1
Calculate current of inductor and voltage of capacitor in transient state after turning on the
switch in the circuit of Fig. 10.25. Assume: R=5, C=100μF, L=1H, e1(t)=10V, e2(t)=10V.

Fig. 10.26 Circuit structure in Test 10.1

Answers:
UC(0-)=10
iL(0-)=2
Current in inductor in transient iL(t)=1
Voltage of capacitor uC(t)=-10+20e-2000t

Test 10.2

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Calculate voltage of capacitor in transient state after turning on the switch in the circuit of Fig.
10.27. Assume: R=2, C=1F, L=2H, i(t)=10 sin(t+45o)

Fig. 10.27 Circuit structure in Test 10.2

Answers:
uC(0-)=-14.14
iL(0-)=7.07
Steady state of Ucu(t)=14.14sin(t)
Steady state of iLu(t)=7.07sin(t-90o)
uC(t)=14.14sin(t) - 14.14e-0.25t cos(0.66t) - 5.31e-0.25t sin(0.66t)

Test 10.3
Calculate the the frequency in transient stae of RLC circuit in 2 cases”
a) L=1H, C=100μF, R=4
b) L=1H, C=100μF, R=100
1 R2
Hint: Apply the equation (10.27) describing natural frequency
ω=
√ − 2
LC 4 L

Answers:
a) ω=99.98 rad/s
b) ω=86.60 rad/s

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