1/3/2011

ECSE 210: Electric Circuits 2

Chapter 7: Second Order Circuits Chapter 7: Second Order Circuits
1
Some SI Units
Quantity Unit Symbol
length Meter m
time second s
charge Coulomb C charge Coulomb C
current Ampere A
voltage Volt V voltage Volt V
resistance Ohm O
capacitance Farad F capacitance Farad F
inductance Henry H
energy Joule J energy Joule J
power Watt W
Standard SI prefixes
Prefix Symbol Multiplier Prefix Symbol Multiplier
pico p 10
-12
nano n 10
-9
nano n 10
-9
micro 10
-6
illi 10
3
milli m 10
-3
kilo k 10
+3
mega M 10
+6
giga G 10
+9
tera T 10
+12
Airbag Ignition Device
t =0
pendul um
C
+
-
12 volt
battery
4
L
C is charged
f 0
C
up for t<0
Airbag igniter ignites
airbag using an
explosive device
4
Review
Response of First Order System
1/3/2011
Response of First Order System
First Order System
See:
http://www.facstaff.bucknell.edu/mastascu/eContro
lHTML/SysDyn/SysDyn1 html#Introduction lHTML/SysDyn/SysDyn1.html#Introduction
for dynamic response of 1
st
and 2
nd
order systems
5
First Order System
Second Order Circuits
1/3/2011
Contains two storage elements
Performance described by a second order ODE
Boundary conditions on both C and L must hold!
4O
0.5F 1F
Are these circuits second order?
6H
1H
+
4O
2O
i
L
v
s
-
2O
6
Second Order Circuits
1/3/2011
Is this a second order circuit?
4O
4O
+
Note that there are two
uncoupled branches
0.5F 1F
v
s
+
-
uncoupled branches.
See J, J, H &S Section 7.1 , ,
7
Example: Second Order Circuits
1/3/2011
Use mesh anal ysi s
8O
2H
1H
Use mesh anal ysi s
v
g
+
-
4O
i
1 i
2
Mesh equations:
v
g
4O
1 i
2
di


2
di
1
dt
+ (8+ 4)i
1
4i
2
= v
g
di
| |
1 di
(1)
0 4 4
2
2
1
= + + i
dt
di
i
|
.
|

\
|
+ =
2
2
1
4
4
1
i
dt
di
i
| |
2
(2)
|
|
.
|

\
|
+ =
dt
di
dt
i d
dt
di
2
2
2
2
1
4
4
1
Taking the derivative,
8
Second Order Circuits
1/3/2011
g
v i i
dt
di
= + +
2 1
1
4 ) 4 8 ( 2
(1)
dt
|
|
|

|
+
di i d di
2 2
2
1
4
1
|
|

|
+
2
4
1
i
di
i (2)
(2)
|
|
.

\
+ =
dt dt dt
2
2
2 1
4
4
|
.

\
+ =
2
2
1
4
4
i
dt
i (2)
(2)
g
v i i
dt
di
dt
di
dt
i d
=
|
.
|

\
|
+ +
|
|
.
|

\
|
+
2 2
2 2
2
2
2
4 4 3 4
2
1 Substitute
(2) into (1)
dt dt dt
. \
. \
2
i
di i d
2 16 10
2 2
2
g
v i
dt dt
2 16 10
2
2
2
2
= + +
Second order ODE
9
Three Other Approaches
1/3/2011
Direct Method
See Table 9 2 1 in Dorf & Svaboda See Table 9.2-1 in Dorf & Svaboda
Operator Method
See Table 9.2-2 in Dorf & Svaboda See able 9. in Dorf & Svaboda
Laplace Method Laplace Method
To be discussed later when we
i L l T f examine Laplace Transforms
10
Operator Method for Obtaining
2
nd
Order DE
1/3/2011
2 Order DE
1. Identify two variables, x
1
and x
2
. These are
p it lt s nd/ indu t u nts capacitor voltages and/or inductor currents.
2 Write one 1
st
order DE obtaining dx
1
/dt = 2. Write one 1 order DE, obtaining dx
1
/dt =
f(x
1
, x
2
).
3. Write a second 1
st
order DE in terms of the
2
nd
variable, obtaining either dx
2
/dt=Kx
1
or
x
1
=(1/K)dx
2
/dt.
4 S b tit t th d DE i t th fi t DE 4. Substitute the second DE into the first DE,
obtaining the desired second order DE in x
2
.
11
Second Order Circuits
1/3/2011
g
v i
d
di
d
i d
2 16 10
2
2
2
2
2
= + +
Second order ODE
g
dt dt
2
2
A li d li d d ODE A generalized linear second order ODE:
) ( ) (
) ( ) (
2
t f t x a
t dx
a
t x d
= + + ) ( ) (
2 1
2
t f t x a
dt
a
dt
= + +
Natural response
n f
x x x + =
Forced response
12
Second Order Circuits
1/3/2011
The natural response is found from the general
solution of the homogeneous equations: solution of the homogeneous equations:
0 ) (
) ( ) (
2 1
2
2
= + + t x a
d
t dx
a
d
t x d
x = De
st
) (
2 1
2
dt dt
Suppose
x
n
De
0
2 1
2
= + +
st st st
De a sDe a De s
Suppose

s
2
+ a
1
s + a
2
( )
De
st
= 0
Characteristic polynomial
13
Second Order Circuits
1/3/2011
Characteristic polynomial has two roots:
1
and
1
0
2 1
2
= + + a s a s
1
= s
2
= s
or
2
4
,
2
2
1 1
1 1
a a a
=
x
n
= C
1
e

1
t
+ C
2
e

2
t
2 1
; =

n 1 2
x = C e

1
t
+ C te

2
t
; =
or

x
n
= C
1
e + C
2
te

;
1

2
14
Conventions (Johnson & Johnson)
1/3/2011
d
2
x(t )
2
+ a
1
dx(t )
dt
+ a
0
x(t ) = 0
Homogeneous
Equation
See pp. 278 and 567 i n J & J
=
a
1
dt
2
1
dt
0
( )
e = a
Equation
Let

2 a
0
e
o
= a
0
Let
Dampingratio
Undamped natural
frequency
d
2
x(t)
2
+2e
o
dx(t)
dt
+e
o
2
x(t) =0
frequency
dt
2

o
dt
o
( )
s
2
+ 2e s +e
2
= 0
Characteristic equation
s + 2e
o
s +e
o
= 0
15
Conventions (Johnson & Johnson)
1/3/2011
Characteristic equation
s
2
+ 2e
o
s +e
o
2
= 0
The roots of the characteristic equation are:

1
,
2
=
2
e
0
2
(zeta) is called the exponential damping ratio.

0
is called the undamped natural frequency.
0
p q y
The roots of the characteristic polynomial
1
and
2
are
called the natural frequencies of the circuit because they called the natural frequencies of the circuit because they
determine the natural (unforced) response.
16
Conventions (Dorf & Svoboda)
1/3/2011
d
2
x(t )
dt
2
+ a
1
dx(t )
dt
+ a
0
x(t ) = 0
Homogeneous
Equation
o 2 = a
dt
2
1
dt
0
( )
a = e
2
Equation
Let
o 2
1
= a
a
0
= e
o
Let
0 ) (
) (
2
) (
2
2
2
= + + t x
dt
t dx
dt
t x d
o
e o
0 2
2 2
= + +
o
s s e o
Characteristic equation
17
Conventions (Dorf & Svoboda)
1/3/2011
0 2
2 2
= + +
o
s s e o
Characteristic equation
The roots of the characteristic equation are:
2 2
2 1
,
o
e o o =
I nst ead of
dampi ng
t i
is called the exponential damping coefficient.

o
is called the undamped natural frequency.
r at i o
o
p q y
The roots of the characteristic polynomial
1
and
2
are
called the natural frequencies of the circuit because they called the natural frequencies of the circuit because they
determine the natural (unforced) response.
18
Three Solution Types
Using Dorf & Svaboda Convention
1/3/2011
Type 1: Overdamped
e o >
and are real and unequal
o
e o >
and are real and unequal
t t
n
e C e C t x
2 1
2 1
) (

+ =

1

2
The natural response is the sum of two decaying
exponentials
Type 2: Critically damped
e o =
d l d l
o
e o =
and are real and equal

1
=
2
= o

1

2
t t
n
te C e C t x
o o
+ =
2 1
) (
19
Three Solution Types
1/3/2011
Type 3: Underdamped
o
e o <
o j e
2
o
2
o je
and are complex and unequal
1

2

1
,
2
= o j e
o
2
o
2
= o je
d
t j t t j t
d d
e e C e e C t x
e o e o
+ =
2 1
) (

2
n
e e C e e C t x +
2 1
) (
( )
t j t j t
n
d d
e C e C e t x
e e o
+ =
2 1
) (
is called the damped natural frequency
( )
n 2 1
) (
e
d
C
1
and C
2
can be complex.
20
Three Solution Types
1/3/2011
Type 3: Underdamped
( ) ( )
t j t j t
n
d d
e C e C e t x
e e o
+ =
2 1
) (
Euler
t j t e
t j
e e
e
sin cos =

( ) ( ) | |
( ) t jC t C t jC t C e t x
d d d d
t
n
e e e e
o
sin cos sin cos ) (
2 2 1 1
+ + =

( ) ( ) | | t C C j t C C e t x
d d
t
n
e e
o
sin cos ) (
2 1 2 1
+ + =

21
Must be r eal !
Three Solution Types
1/3/2011
Type 3: Underdamped
( ) ( )
| |
x
n
(t) = e
ot
C
1
+ C
2
( )
cose
d
t + j C
1
C
2
( )
sine
d
t
| |
Li near t r ansf or mat i on
| | t B t B e t x
d d
t
n
e e
o
sin cos ) (
2 1
+ =

Li near t r ansf or mat i on
B
1
and B
2
are arbitrary constants.
For B
1
and B
2
to be real, C
1
and C
2
must be complex
conjugates. This is always the case for circuits.
The natural underdamped response is oscillatory with an The natural underdamped response is oscillatory with an
exponentially decaying magnitude.
22
Three Solution Types for 2nd Order System
1/3/2011
B h i d d t t Behavi or depends on t wo par amet er s:
1. Nat ur al f r equency (
0
)
2. Dampi ng r at i o ()
Qual i t at i ve behavi or depends c r uc i al l y on
w het her has w het her has
1. One r eal sol ut i on (t wo t he same)
2. Two r eal sol ut i ons
3 Two c ompl ex c onj ugat e sol ut i ons 3. Two c ompl ex c onj ugat e sol ut i ons
Cr i t i c al Dampi ng
The syst em i s sai d t o be c r i t i c al l y damped
w hen =1 (J & J ) or =
0
(D& S). [
d
i s zer o]
23
1/3/2011
Dependence of system behavior on damping
ratio
u
d
e
ratio
a
m
p
l
i
t
u
a
l

p
e
a
k

h
e

i
n
i
t
i
a
x
0

i
s

t
h
24
Example: Overdamped
1/3/2011
v
R=2O
L=5H
A i
L
1 ) 0 ( =
Find v(t) and i
L
(t) .
R
L
C
i
L=5H
C=0.2F C=0.2F
V v 4 ) 0 ( =
Given two
L
i
Given two
boundary
diti
KCL
0 ) 0 ( ) (
1
= + + +
}
t
dv
C i d v
v
t t
conditions
0 ) 0 ( ) (
0
= + + +
}
L
dt
C i d v
L R
t t
1 1
2
dv v d
0
1 1
2
= + + v
L dt
dv
R dt
v d
C
25
Example: Overdamped
1/3/2011
0
1 1
2
2
= + + v
dv v d
Recall
) ( ) (
2
t dx t x d
0
2
+ + v
LC dt RC dt
2
dv v d
Recall
0 ) (
) (
2
) (
2
2
= + + t x
dt
t dx
dt
t x d
o
e o
0 5 . 2
2
= + + v
dt
dv
dt
v d
25 . 1
2
1
= =
RC
o Damping Coefficient:
1
1
= =
LC
o
e
Resonant Frequency:
o
e o >
Overdamped
26
Example: Overdamped
1/3/2011
0 5 . 2
2
2
= + + v
dt
dv
dt
v d
2
dt dt
Characteristic equation:
0 1 5 . 2
2
= + + s s
Roots:
2 2
2 1
,
o
e o o =
2
1
= 5 . 0
2
=
Overdamped
Real and Unequal
Overdamped
Response
t t 5 0 2 t t
e C e C t v
5 . 0
2
2
1
) (

+ =
27
Pr oposed sol ut i on
Example: Overdamped
1/3/2011
t t
e C e C t v
5 . 0
2
2
1
) (

+ =
4 ) 0 ( ) 0 ( C C
Find coefficients C
1
and C
2
using the boundary conditions
First boundary condition
4 ) 0 ( ) 0 (
2 1
= + = = C C v v
c
Need one more equation!
y
gives first equation
Use i
L
(0)
KCL
dv v
Fromthe circuit
C
dv
dt
+
v
R
+ i
L
= 0
1 1 ) 0 ( dv
Second boundary
Fromthe circuit
Same as 1
st
equation

5 ) 0 (
1
) 0 (
1 ) 0 (
= =
L
i
C
v
RC dt
dv
Second boundary
condition
28
Example: Overdamped
1/3/2011
t t
e C e C t v
5 . 0
2
2
1
) (

+ =
Next use the proposed solution
t t
e C e C
dt
t dv
5 . 0
2
2
1
5 . 0 2
) (

=
dt
5 5 0 2
) 0 (
= = C C
dv
Fr om pr oposed sol ut i on
5 5 . 0 2
2 1
= = C C
dt
Remember
4 = +C C
Fr om pr oposed sol ut i on
Fr om pr evi ous sl i de

Remember
4
2 1
= +C C
2
1
= C 2
2
= C
Fr om pr evi ous sl i de
t t
e e t v
5 . 0 2
2 2 ) (

+ =
0 ; > t
29
Example 1: Overdamped
1/3/2011
L
C
v
R=2O
L=5H
A i
L
1 ) 0 ( =
V 4 ) 0 (
L
i
t t
e e t v
5 . 0 2
2 2 ) (

+ =

R
L
C
C=0.2F C=0.2F
V v 4 ) 0 ( =
V
3.5
4
2.5
3
Volts
1
1.5
2
0 1 2 3 4 5 6 7 8
0
0.5
Seconds
30
Example: Overdamped
1/3/2011
Second part of question: Find the inductor current for t>0.
Linear circuit i (t) has the same form:
t t
L
e C e C t i
5 . 0
2
2
1
) (

+ =
Linear circuit i
L
(t) has the same form:
1 ) 0 (
2 1
= + = C C i
L
Two boundar y
c ondi t i ons
f r om bot h
4 ) 5 . 0 2 (
) 0 (
) 0 (
2 1
= = = C C L
dt
di
L v
L
f r om bot h
c i r c ui t &
pr oposed
sol ut i on
2 . 0
1
= C 8 . 0
2
= C
sol ut i on
0 ; > t
t t
L
e e t i
5 . 0 2
8 . 0 2 . 0 ) (

=
31
Example 2: Underdamped
1/3/2011
i
v
R=6O
L=1H
i
L
(0) = 4A
+
) (t i
R
L
C L
i
L=1H
C=0.04F
V v
c
4 ) 0 ( =
c
v
-
Find
i(t) and
v
c
(t)
KVL
0 ) 0 ( ) (
1
= + + +
}
t
c
v d i
C dt
di
L Ri t t

( )
c
( )
0
C dt
0
1
2
2
= + + i
C d
di
R
d
i d
L
2
C dt dt
32
Example 2: Underdamped
1/3/2011
Recall
0
1
2
2
= + + i
LC dt
di
L
R
dt
i d
) ( ) (
2
t dx t x d
0 25 6
2
+ + i
di i d
Recall
2
LC dt L dt
0 ) (
) (
2
) (
2
2
= + + t x
dt
t dx
dt
t x d
o
e o
0 25 6
2
= + + i
dt dt
3
2
= =
L
R
o
Damping Coefficient:
5
1
= =
LC
o
e
Resonant Frequency:
o
e o <
underdamped
33
Example 2: Underdamped
1/3/2011
0 25 6
2
2
= + + i
dt
di
dt
i d
Characteristic equation:
s
2
+ 6s + 25 = 0
dt dt
2 2
2 1
, o e o =
o
j
Roots:

1
= 3 + j4
2
= 3 j4
Underdamped
Complex
Underdamped
Response
3 3 t t
) 4 sin( ) 4 cos( ) (
3
2
3
1
t e B t e B t i
t t
+ =
34
Example 2: Underdamped
1/3/2011
Use pr oposed mesh c ur r ent and i ni t i al c ondi t i on
t o f i nd one of t he c onst ant s.
) 4 sin( ) 4 cos( ) (
3
2
3
1
t e B t e B t i
t t
+ = (1)
4 ) 0 ( ) 0 (
1
= = =
L
i B i
Gi ves one c onst ant
35
Example 2: Underdamped
1/3/2011
v
+
) (t i
Need a sec ond
c onst r ai nt equat i on.
Al r eady used c onst r ai nt
L
i
R
L C
c
v
+
y
on L so must now use
c onst r ai nt on C.
Or i gi nal ODE obt ai ned
KVL
-
Or i gi nal ODE obt ai ned
usi ng :
1
}
t
di
di
0 ) 0 ( ) (
1
0
= + + +
}
c
v d i
C dt
di
L Ri t t

Ri + L
di
dt
+ v
c
= 0
FROM CI RCUI T
Const r ai nt on t he
L
v
i
L
R
dt
di
c
) 0 (
) 0 (
) 0 (
=
36
Const r ai nt on t he
r at e of c hange of
t he c ur r ent at t =0
Example 2: Underdamped
1/3/2011
v
KVL
Ri L
di
0
) (t i
L
i
R
L C
Ri + L
dt
+ v
c
= 0
v
i
R di
c
) 0 (
) 0 (
) 0 (
c
v
+
L
i
L dt
c
) (
) 0 (
) (
=
-
di(0)
24 4 20 f i it

dt
= 24 + 4 = 20 fromcircuit
37
Example 2: Underdamped
1/3/2011
FROM SOLUTI ON
Const r ai nt on t he Const r ai nt on t he
r at e of change of
t he c ur r ent at t =0
) (
3 3
t di
) 4 sin( 4 ) 4 cos( 3
) (
3
1
3
1
t e B t e B
dt
t di
t t
=
3B e
3t
sin(4t ) + 4B e
3t
cos(4t )
(2)

3B
2
e sin(4t ) + 4B
2
e cos(4t )
di(0)
3B 4B
Need t o f i nd

dt
= 3B
1
+ 4B
2
38
Need t o f i nd
t hi s der i vat i ve
(LHS)
Example 2: Underdamped
1/3/2011
i
v
+
) (t i
fromcircuit
L
i
R
L C
c
v
-
di(0)
dt
= 24 + 4 = 20
20 4 3
) 0 (
B B
di
B
2
= 2
20 4 3
) 0 (
2 1
= + = B B
dt
di
2
B
1
= 4
from solution of differential equation
) 4 sin( 2 ) 4 cos( 4 ) (
3 3
t e t e t i
t t
=
39
Example 2: Underdamped
1/3/2011
i
L
+
) (t i
R=6O
L=1H
A i
L
4 ) 0 ( =
L
i
R
C
c
v
-
L 1H
C=0.04F
V v
c
4 ) 0 ( =
) 4 sin( 2 ) 4 cos( 4 ) (
3 3
t e t e t i
t t
=
A
3
3.5
4
Amps
1.5
2
2.5
0
0.5
1
0 0.5 1 1.5 2 2.5 3
-1
-0.5
Seconds
40
Example 2: Underdamped
1/3/2011
i
v
+
) (t i
Find the capacitor voltage for t>0
Sec ond par t
L
i
R
L C
c
v
-
v (t ) = B
1
e
3t
cos(4t ) + B
2
e
3t
sin(4t )

c
( )
1
( )
2
( )
v
c
(0) = B
1
= 4
B
2
= 22
dv
c
(0)
dt
= 3B
1
+4B
2
=
i(0)
C
=100

) 4 sin( 22 ) 4 cos( 4 ) (
3 3
t e t e t v
t t
c

+ =
41
Example 2: Underdamped
1/3/2011
8
Volts
4
6
0
2
-2
0
0 0.5 1 1.5 2 2.5 3
-4 Seconds
) 4 sin( 22 ) 4 cos( 4 ) (
3 3
t e t e t v
t t
c

+ =
0 > t
V
42
Example 3: Critically Damped
1/3/2011
) (t i
C=0.125F
R
1
=10O
Fi nd v(t ) and i (t ).
KVL
R
1
L=2H
R
2
=8O
A i
L
5 . 0 ) 0 ( =
KVL
KCL
+
+
L
) (
V v
c
1 ) 0 ( =
KVL
0
1
= + + v i R
di
L
KCL
L
C ) 0 (
L
i
R
2
-
) 0 (
c
v
) (t v
KVL
0
1
+ + v i R
dt
L
KCL
2
) (
R
v
dt
dv
C t i + =
- 2
R dt
Combine two first order ODEs into one
second-order ODE in v(t) and solve.
43
Example 3: Critically Damped
1/3/2011
KVL
0
1
= + + v i R
dt
di
L
KCL
2
) (
R
v
dt
dv
C t i + =
dt
dv
R dt
v d
C
dt
di
2
2
2
1
+ =
I nser t i nt o KVL equat i on
0
1
2
1
2
2
2
= +
|
|
.
|

\
|
+ +
|
|
.
|

\
|
+ v
R
v
dt
dv
C R
dt
dv
R dt
v d
C L
KVL
0
1
2
1 1
2
2
2
=
|
|
.
|

\
|
+ +
|
|
.
|

\
|
+ + v
R
R
dt
dv
C R
R
L
dt
v d
LC
| | | |
0
1
2
2 1 1
2
2
2
=
|
|
.
|

\
|
+
+
|
|
.
|

\
|
+ + v
LC R
R R
dt
dv
L
R
C R dt
v d
44
Example 3: Critically Damped
1/3/2011
0
1
2
2 1 1
2
2
2
=
|
|
.
|

\
|
+
+
|
|
.
|

\
|
+ + v
LC R
R R
dt
dv
L
R
C R dt
v d
Recall
2 2 . \ . \
0 9 6
2
2
= + + v
dv v d
0 ) (
) (
2
) (
2
2
2
= + + t x
dt
t dx
dt
t x d
o
e o
0 9 6
2
+ + v
dt dt
3 = o
2
dt dt
Damping coefficient p g
Resonant Frequency
3 =
o
e
Critically damped response Critically damped response
0 9 6
2
= + + s s
Roots
1
=-3 and
2
=-3. The roots are real and equal
45
Example 3: Critically Damped
) (
1/3/2011
) (t i
C=0.125F
L=2H
R
1
=10O
R
2
=8O
R
1
A i
L
5 . 0 ) 0 ( =
V v
c
1 ) 0 ( =
+
) 0 (
+
c
) (
t t
te C e C t v
3
2
3
1
) (

+ =
L
C ) 0 (
L
i
R
2
-
) 0 (
c
v
-
) (t v
V C v 1 ) 0 (
1
= =
dv(t)
dt
= 3C
1
e
3t
3C
2
te
3t
+ C
2
e
3t
2 1
3
) 0 (
C C
dt
dv
+ =
46
Need t o f i nd der i vat i ve
f r om t he c i r c ui t
Example 3: Critically Damped
) (
1/3/2011
) (t i
C=0.125F
L=2H
R
1
=10O
R
2
=8O
A i
L
5 . 0 ) 0 ( =
V v
c
1 ) 0 ( =
R
1
2 1
3
) 0 (
C C
dt
dv
+ =
+
) 0 (
+
dt
KCL
0
2
= + i
R
v
dt
dv
C
) 0 (
L
i
L
C
R
2
-
) 0 (
c
v
-
) (t v
3 4 1
) 0 ( ) 0 ( ) 0 (
2
= + = + =
C
i
CR
v
dt
dv
3 3
2 1
= + C C
1 C
6 C
1
1
= C
6
2
= C
t t
te e t v
3 3
6 ) (

+ =

V
47
Example 3: Critically Damped
1/3/2011
1.4
Volts
1
1.2
0.6
0.8
0.2
0.4
t t
t t
3 3
6 ) (

0 0.5 1 1.5 2 2.5 3

0
Seconds
t t
te e t v
3 3
6 ) ( + =

48
Example 3: Critically Damped
) (
1/3/2011
) (t i
C=0.125F
L=2H
R
1
=10O
R
2
=8O
A i
L
5 . 0 ) 0 ( =
V v
c
1 ) 0 ( =
R
1
? ) ( = t i
t t
t C C t i
3 3
) (

Sec ond par t
+
) 0 (
+
t t
te C e C t i
3
2
3
1
) ( + =
5 . 0 ) 0 (
1
= = C i
) 0 (
L
i
L
C
R
2
-
) 0 (
c
v
-
) (t v
d
2 1
3
) 0 (
C C
dt
di
+ =
0
1
= + + v i R
dt
di
L
KVL
) 0 ( ) 0 ( R d
5 0 C
3
) 0 (
) 0 (
) 0 (
1
= =
L
v
i
L
R
dt
di
5 . 0
1
= C
3 3
2 1
= + C C
5 . 1
2
= C
49
Example 3: Critically Damped
1/3/2011
0 5
0.6
Amps
0.4
0.5
0.2
0.3
0
0.1
t t
i
3 3
5 1 5 0 ) (
0 0.5 1 1.5 2 2.5 3
-0.1
Seconds
t t
te e t i
3 3
5 . 1 5 . 0 ) (

=

0 > t
50
Back to Example 1: Overdamped
1/3/2011
L
C
v
R=2O
L=5H
A i
L
1 ) 0 ( =
V 4 ) 0 (
L
i
t t
e e t v
5 . 0 2
2 2 ) (

+ =

R
L
C
C=0.2F C=0.2F
V v 4 ) 0 ( =
V
3.5
4
2.5
3
Volts
1
1.5
2
0 1 2 3 4 5 6 7 8
0
0.5
Seconds
51
Back to Example 2: Underdamped
1/3/2011
i
L
+
) (t i
R=6O
L=1H
A i
L
4 ) 0 ( =
L
i
R
C
c
v
-
L 1H
C=0.04F
V v
c
4 ) 0 ( =
) 4 sin( 2 ) 4 cos( 4 ) (
3 3
t e t e t i
t t
=
A
3
3.5
4
Amps
1.5
2
2.5
0
0.5
1
0 0.5 1 1.5 2 2.5 3
-1
-0.5
Seconds
52
Back to Example 2: Underdamped
1/3/2011
8
Volts
4
6
0
2
-2
0
0 0.5 1 1.5 2 2.5 3
-4 Seconds
) 4 sin( 22 ) 4 cos( 4 ) (
3 3
t e t e t v
t t
c

+ =
0 > t
V
53
The Forced Response
1/3/2011
Recall:
f n
x x t x + = ) (
) (
2
d d
Solves:
) (
) (
2 1
2
t f x a
dt
dx
a
dt
t x d
= + +
Where:
i th h l ti th t l x
n
is the homogeneous solution or the natural response
X
f
is the particular solution or the forced response
How is x
f
determined? Guessing method.
54
Common Guesses for x
f
1/3/2011
) (t f ) (t x
f
k
A
t
B At +
t
B At +
2
t
C Bt At + +
2
at
e
at
Ae
) cos( ) sin( bt bt ) cos( ) sin( bt B bt A + ) cos( ), sin( bt bt ) cos( ) sin( bt B bt A +
) cos( ), sin( bt e bt e
at at
)) cos( ) sin( ( bt B bt A e
at
+
55
Example: Forced Response
) (t i
1/3/2011
i
R
L
+
) (t i
R=6O
L=1H
A i
L
4 ) 0 ( =
L
i
C
c
v
-
L 1H
C=0.04F
V v
c
4 ) 0 ( =
+
-
) )( ( 12 V t u
12 = + +
c
v
dt
di
L Ri
KVL 0 > t
dt
KCL
dt
dv
C t i
c
= ) (
2
2
dt
v d
C
dt
di
c
=
0 > t
dt dt
Combine two equations:
12
2
2
= + +
c
c c
v
dt
v d
LC
dt
dv
RC
dt dt
LC
v
LC dt
dv
L
R
dt
v d
c
c c
12 1
2
2
= + +
56
Example: Forced Response
) (t i
1/3/2011
i
R
L
+
) (t i
R=6O
L=1H
A i
L
4 ) 0 ( =
L
i
C
c
v
-
L 1H
C=0.04F
V v
c
4 ) 0 ( =
+
-
) )( ( 12 V t u
d
2
d d v
c
dt
2
+
R
L
dv
c
dt
+
1
LC
v
c
=
12
LC

300 25 6
2
2
= + +
c
c c
v
dt
dv
dt
v d
dt dt
Examined earlier
Note that we have a forcing function.
n f c
v v t v + = ) (
57
Example: Forced Response
1/3/2011
The natural or homogeneous solution has the form (see previous class):

v
n
(t) = B
1
e
3t
cos(4t) + B
2
e
3t
sin(4t)
The particular solution or forced response has the form (see Table): p p ( )

v
f
(t ) = A
a constant
Therefore

the total solution is:
v
c
(t ) = A+ B
1
e
3t
cos(4t ) + B
2
e
3t
sin(4t )

c 1 2
Find the three constants! Find the three constants!
58
Example: Forced Response
) (t i
1/3/2011
i
R
L
+
) (t i
R=6O
L=1H
A i
L
4 ) 0 ( =
L
i
C
c
v
-
L 1H
C=0.04F
V v
c
4 ) 0 ( =
+
-
) )( ( 12 V t u

v
c
(0) = A+ B
1
= 4
v
c
(t) = A+ B
1
e
3t
cos(4t)+ B
2
e
3t
sin(4t)

v
c
() = A = 12 B
1
= 16

dv (0)

c
( )
dt
= 3B
1
+ 4B
2
dv (0)
dv (0) i (0)

3B
1
+ 4B
2
= 100

C
dv
c
(0)
dt
= i
L
(0)

dv
c
(0)
dt
=
i
L
(0)
C
= 100
B
2
= 13
59
Example: Forced Response
1/3/2011
20
20
Volts
15
10
15
5
10
5
10
0
0
0 0.5 1 1.5 2 2.5 3
-5
0 0.5 1 1.5 2 2.5 3
-5
Seconds

v
c
(t) =12 16e
3t
cos(4t) +13e
3t
sin(4t)
60
Measures of Performance for a Step Input
1/3/2011
20
Volts
Ri se Ti me
Ti me r equi r ed t o r i se
f r om 10 % t o 90% of
10
15
f r om 10 % t o 90% of
f i nal st eady-st at e val ue.
M i O h t
5
Max i mum Over shoot
Max i mum peak val ue
measur ed f r om t he f i nal
0 0 5 1 1 5 2 2 5 3
-5
0
st eady-st at e val ue.
Set t l i ng Ti me 0 0.5 1 1.5 2 2.5 3
Seconds
Set t l i ng Ti me
Ti me r equi r ed f or
r esponse t o r eac h and
st ay w i t hi n 5% of f i nal
61
st ay w i t hi n 5% of f i nal
val ue. Or 5 t i me
c onst ant s
Example: Forced Response
1/3/2011
R
1
L
C
+
) (t i
t=0
+
t>0
L
i
C
) (t v
+
+
-
12V
R
2
+
-
V 24
c
v
+
-
-
R
1
=10O
t>0
di
Switch in position 2
L=2H
R
2
=2O
KVL

L
di
dt
+ R
1
i + v = 24
v dv
C=0.25F
KCL
2
) (
R
v
dt
dv
C t i + =
dv
2
1
R
| | dv
R + R
| | 24
Combining equations
dv
dt
2
+
1
R
2
C
+
R
1
L
|
\

|
.
|
dv
dt
+
R
1
+ R
2
R
2
LC
|
\

|
.
|
v =
24
LC
62
Example: Forced Response
1/3/2011
LC
v
LC R
R R
dt
dv
L
R
C R dt
dv 24 1
2
2 1 1
2
2
2
=
|
|
.
|

\
|
+
+
|
|
.
|

\
|
+ +
LC LC R dt L C R dt
2 2 . \ . \
48 12 7
2
= + + v
dv dv Equation for t>0 Equation for t>0
48 12 7
2
= + + v
dt dt
v v t v + = ) (
Switch in position 2
n f
v v t v + = ) (
Solution of homogeneous equation
Forced response (constant in this case)
2
d d
0 12 7
2
2
= + + v
dt
dv
dt
dv
Homogeneous equation
63
Example: Forced Response
1/3/2011
0 12 7
2
2
= + + v
dt
dv
dt
dv
Homogeneous equation
Characteristic equation
0 12 7
2
= + + s s
Roots
3
1
=
4
2
= Overdamped Response Roots
3
1

4
2
Overdamped Response
t t
n
e C e C v
4
2
3
1

+ =
The natural response has the form:
The total response has the form:
t t
e C e C A t v
4
2
3
1
) (

+ + =
Find the three constants
48 12 7
2
2
= + + v
dv dv
At steady-state, derivatives
2
dt dt
are zero (or use circuit)
64
4 ) ( = = A v
Switch in position 2
(1)
Example: Forced Response
1/3/2011
R
1
L
C
+
) (t i
t=0
+
L
i
C
) (t v
+
+
-
12V
R
2
+
-
V 24
c
v
+
-
t t
e C e C A t v
4 3
) (

+ + =
-
R
1
=10O
e C e C A t v
2 1
) ( + + =
L=2H
R
2
=2O
Switch in position 1
(2)
Find
C=0.25F
S p
Need to find steady-state v(t)
L short, C open: v(0-)=2
( )
boundary
condition at
t=0-
2 ) 0 (
2 1
= + + = C C A v
65
t=0-
Example: Forced Response
1/3/2011
t t
e C e C A t v
4
2
3
1
) (

+ + =
4 = A
2
2 1
= + + C C A
Switch in position 1
Switch in position 2
(2)
(1)

dv(0)
dt
= 3C
1
4C
2
0
) 0 ( ) 0 ( ) 0 (
2
= =
CR
v
C
i
dt
dv
0 4 3
2 1
= C C (3)

8 C
6 C
KCL at + out put Top equat i on

8
1
= C
6
2
= C

66
Example: Forced Response
1/3/2011
3.8
4
20
Volts
3.2
3.4
3.6
10
15
4\
2.6
2.8
3
5
10
2.2
2.4
0
2\
v(0-)
t t
t
4 3
6 8 4 ) (

+
0 0.5 1 1.5 2 2.5 3
2
0 0.5 1 1.5 2 2.5 3
-5
Seconds
2\
v(0-)
t t
e e t v
4 3
6 8 4 ) ( + =
67
RLC Circuits: Final Remarks
1/3/2011
1. RLC circuit analysis leads to second order ODEs.
2 RLC i it i d t i d b th t f
0 2
2 2
2. RLC circuit response is determined by the roots of
the characteristic equation of the governing ODE:
where: o is the exponential damping coefficient and
i th d d t f
0 2
2 2
= + +
o
s s e o
e
is the undamped resonant frequency
3 Real and unequal roots overdamped; (o >e )
0
e
3. Real and unequal roots overdamped;
Complex & unequal roots underdamped;
Real and equal roots critically damped.
(o >e
0
)
(o <e
0
)
(o = e
0
)
68
RLC Circuits: Final Remarks
1/3/2011
The general solution of even very simple
RLC circuits can be very difficult to RLC circuits can be very difficult to
determine in the time domain.
Two Alternative Approaches wo Alternative Approaches
Use transform transform method which simplifies
the analysis to solving algebraic equations. the analys s to solv ng algebra c equat ons.
Use computer algorithms.
69