EE3706 - Chapter 8 - Second Order Circuits

FUNDAMENTALS OF ELECTRIC CIRCUITS
Part 1: DC CIRCUITS
Chapter 8: Second-order Circuits

I. Introduction.
II. Finding initial and final values.
III. The source free series/parallel RLC circuits.
IV. Step response of a series/parallel RLC circuits.
V. General second-order circuits.
VI. Applications.
Fundamentals of Electric Circuits Viet Son Nguyen - 2011
Chapter 8: Second-order circuits

I. Introduction
In the previous chapter, we considered circuits with a single storage element (C
or L). Such circuits are first-order because the differential equations describing
them are first-order.
In this chapter, we will consider circuits containing two storage elements (known
as second-order circuits).
A second-order circuit is characterized by a second-order differential equation. It
consists of resistors and the equivalent of 02 energy storage elements.
There are three kinds of second-order circuits:
Two storage elements of different type: L and C
Two storage elements of one type: L or C
An op amp circuit with 02 storage elements
L
Vs
R
C
Series RLC circuit

2

I. Introduction
R1
The analysis of second-order will be similar to that
R2
Vs
L1
L2
used for first-order:

RL circuit
First, consider circuits that are excited by the initial
conditions of the storage elements source free
C1
C1
Vs
circuitss give natural responses.

C2
Second, with independent sources,

circuits will give both the nature
R2
R1
RC circuit
4
7
response and the forced response.

C1
Vs
Op amp with 2 storage element


II. Finding initial and final values
The major problem in handing second-order circuits is finding the initial and final
conditions on circuits variables:
Easy to get the initial and final values of v and i
Difficulte to find the initial values of their derivatives: dv/dt, di/dt
02 key points in determining the initial conditions:
First, carefully handle the polarity of voltage vC(t), and the directions of iL(t)
Second, keep in mind that vC(t), iL(t) are always continuous:
VC (0) VC (0) ; iL (0) iL ( 0)

where:
t = 0: the time that the switching event takes place
t = -0: the time just before a switching event
t = +0: the time just after a switching event

R1
0,25H
4
i
Ex 8.1: The switch has been closed for a long time, and
opens at t = 0. Find i(+0), v(+0), di(+0)/dt, dv(+0)/dt, i(),
t =0
C1
12V
v()
R2
0,1F
t = -0: The circuit has reached DC steady state, so L acts

like a short circuit, C acts like an open circuit
12
2 A,
i(0)
R1 R2
R1
v(0) 2.i(0) 4 V
L
0,25H
+ vL C1 +
12V
0,1F
As vC(t) and iL(t) cannot change abruptly
vC ( 0) vC (0) 4 V ; iL (0) iL ( 0) 2 A

Ex 8.1: The switch has been closed for a long time, and
opens at t = 0. Find i(+0), v(+0), di(+0)/dt, dv(+0)/dt, i(),
v()
t = +0:
iC C
R1
0,25H
4
i
C1
12V
dvC
dv (0) iC (0) 2
C
20 V / s
dt
dt
C
0,1
R1
Applying KVL:
t =0
12 4i(0) vL (0) vC ( 0) 0 vL ( 0) 0
di(0) vL (0)
0A / s
dt
L
R2
0,1F
L
0,25H
+ vL C1 +
12V
0,1F
t > 0: the circuit undergoes transience

t > : Circuit reaches steady state again:
i() 0 A, v() 12 V
6

Ex 8.2: Find iL(+0), vC(+0), vR(+0), diL(+0)/dt,
dvC(+0)/dt, iL(), vC(), vR()
For t = < 0 : 3.u(t) =0
R2
3u(t)A +
vR R1
2
+ v0 -
C1
0,5F
vC
L
0,6H
20V
At t = -0: Circuit has reached steady state
iL
iL (0) 0, vR (0) 0, vC (0) 20 V

For t > 0: 3.u(t) = 3. Since iL and uC cannot change abruptly
iL (0) iL (0) 0, vC (0) vC ( 0) 20 V
vR (0) v0 (0)
Apply KCL at node a: 3
R1
R2
vR (0) v0 (0) 4 V
Apply KVL to the middle mesh:

vC ( 0) 20 V
vR (0) v0 (0) vC (0) 20 0
vR (0) v0 (0)

Ex 8.2: Find iL(+0), vC(+0), vR(+0), diL(+0)/dt,
dvC(+0)/dt, iL(), vC(), vR()
Since L.diL/dt = vL
diL (0) vL (0)
dt
L
R2
3u(t)A +
vR R1
2
+ v0 -
C1
0,5F
vC
L
vL
0,6H
20V
iL
Applying KVL in the right mesh gives:
diL (0)
vL (0) vC (0) 20 20 20 0
0
dt
v0 (0)
v0 ( 0) 4
iC (0) iL (0)
iC (0) 1A
Apply KCL at node b:
iL ( 0) 0
R2
dvC (0) iC (0)

1
2V / s
dt
C
0,5
Apply KCL to node a, and taking the derivative of each term and setting t = +0:
vR v0
dvR (0) dv0 (0)
3
02
R1 R2
dt
dt

III. The source-free series/parallel RLC circuit
III.1. The source-free series RLC circuit
An understanding of the natural response of the series RLC circuit is a
necessary background for future studies in filter design and communications
networks.
Consider the series RLC circuit that is excited by the
I0
energy initially stored V0, and I0.
V0
1
idt V0 , i(0) I0
At t = 0: v(0)
C
t
di 1
d 2i R di 1
idt 0 2
i0
Applying KVL to the loop: Ri L
dt C
dt
L dt LC
To solve a second-order differential equation it requires 02 initial conditions:
i(+0) and i(+0), or
i(+0) and v(+0)

di(0)
di(0)
1
V0 0
RI0 V0
First, we find i(+0): Ri(0) L
dt
dt
L
The solution of the second-order equation is: i A.e
st
Substituting the solution into the equation has:
AR st
A st
se
e 0
R
L
LC
s1
2L
1
R
st 2
Ae s s
0
L
LC
As 2 est
characteristice equation
2L
1
R
2
2
2 L LC 0
1
R
2
2
0
2 L LC
I0
V0
R
2L
1
0
LC
roots s1 and s2 are called natural frequencies [Np/s]

0 : resonant frequency (un-damped natural frequency, or damping factor)
10

s 2 2
0
1
s1 2 02
R
, 0
2L
I0
V0
LC
There are three types of solutions:

If > 0: over damped case
If = 0: critically damped case
If < 0: under damped case
02 values of s show that there are 02 possible solutions for i
i1 A1.es1t , i2 A2 .es2 t i(t ) A1.es1t A2 .es2 t

A1, A2 are determined from the initial values i(0) and di(0)/dt.
11

Over damped case > 0 s1 and s2 are negative and real.
i(t ) A1.es1t A2 .es2 t

Response decays and approaches zero as t increases.
A typical over damped

response
Critically damped case = 0
i(t ) ( A1.t A2 ).e t

Response reaches a maximum value at t = 1/, and then
decays all the way to zero.
A typical critically damped

response
12

Under damped case < 0:
s 2 2 j
d
0
1
s1 02 2 jd
d: damped natural frequency

0: un-damped natural frequencies
The natural response is:
i(t ) e t B1 cos d t B2 sin d t

A typical under damped response
The natural response is exponentially damped and oscillatory in nature.

The response has a time constant of 1/ and a period of T = 2/d
13

Notes:
Damping effect is due to the presence of R
Damping factor determines the rate at which the response is damped:
= 0: having LC circuit with 1 / LC as the un-damped natural frequency
< 0: response is not only damped but also oscillatory.
By adjusting R, response may be made un-damped, over damped, critically
damped, or under damped.
Oscillatory response is possible due to the presence of L, C: They allows
the flow of energy back and forth.
The critically damped case is the borderline between the under damped and
over damped cases.
14

R1
Ex 8.3: Find i(t) in the circuit. Assume that the circuit
10V
C1
0,02F
has reached steady state at t = -0.

For t < 0: i(0)
R3 6
t=0
+
v
R2
i
L
0,5H
10
1A ; v(0) i. R3 6 V
R1 R3
For t > 0: Source free series RLC circuit

The roots:
Req
2L
9
9, 0
2.0,5
1
LC
10, s1,2 2 02 9 j 4,359
9 t
The response is under damped: i(t ) e A1 cos 4,359t A2 sin 4,359t
15

III.2. The source-free parallel RLC circuit

t
Applying KCL:
v 1
dv
d v 1 dv 1
vdt C
0 2
v0
R L
dt
dt
RC dt LC
s2
1
1
s
0
RC
LC
2
s1,2
1
1
1
2
2
2 RC
2 RC RC
R
L
I0
V0
1
2 RC
1
0
LC
st
s t
Over damped ( 0 ) : v(t ) A1e 1 A2 e 2
A1, 2: determine
from the initial
t
Critically damped ( 0 ) : v(t ) ( A1 A2 t )e
Under damped ( 0 ) : s1,2 jd , d

2
0
conditions: v(0),
2
dv(0)/dt
v(t ) e t A1 cos d t A2 sin d t

16

30
Ex 8.4: Find v(t) for t > 0 in the RLC circuit
R1
40V
0,4H
t=0
S?
50
R2
C
20uF
+v
-
When t < 0: The switch is opened.
v(0)
R2
40 25V,
R1 R2
i(0)
40
0,5 A
R1 R2
At t = 0: Applying the KCL gives:

0
v(0) 1
dv(0)
v(0)
dv(0)
vdt C
0
i(0) C
0
R
L
dt
R
dt
dv(0)
v(0) Ri(0)
25 50.0,5
0
6
dt
RC
50.20.10
17

R1
30
40V
0,4H
t=0
50
S?
R2
20uF
Ex 8.4: Find v(t) for t > 0 in the RLC circuit

When t > 0: The switch is closed.
s1,2
1
500, 0
2 RC
1
LC
354
s1 854

v(t ) A1e 854 t A2 e 146 t
s2 146
2
2
0
v(0) A1 A2 25
At t = 0: dv(0)
dt 854 A1 146 A2 0
A 5,16
1
A2 30,16
The complete solution:
v(t ) 5,16e 854 t 30,16e 146 t V

18

IV. Step response of a series/parallel RLC circuit
IV.1. Step response of a series RLC circuit
t=0
Vs
i
L
50
+C
For t > 0: Applying KVL around the loop
di
2
Vs
d
v R dv v
L
Ri
v
V
S
dt
dt 2 L dt LC LC
dv
v(t ) vn (t ) v f (t )
iC
dt
Over damped:
vn(t): natural response

vS(t): forced response
v(t ) VS A1es1t A2 es2 t
t
Critically damped: v(t ) VS A1 A2 t e
Under damped:
v(t ) VS A1 cos d t A2 sin d t e t
A1, 2: determine
from the initial
conditions: v(0),
dv(0)/dt
19

R1

Ex 8.5: Find v(t) and i(t) for t > 0 in the case of the
t=0
1H
24V
C
0,5F
+
-
different values of R1 = 5, 4, 1
R1
2,5
2
L
24
4 A, v(0) 1.i(0) 4 V
For t = 0: i(0)
R1 R2
0 1 2
s1 1
LC
2
2
s1,2 0
s2 4
R1 = 5
t
4 t
t
4 t
For t > 0: v(t ) v f A1e A2 e 24 A1e A2 e
At t = 0: v(0) 24 A1 A2 4 A1 A2 20
dv(t )
C A1e t 4 A2 e 4 t i(0) C A1 4 A2 4
dt
dv 4
4
i(t ) C 4e t e 4 t A
v(t ) 24 16e t e 4 t V
dt 3
3
i (t ) C
20
R2

R1

L
1H
24V
t=0
C
0,5F
+
-
R1
24
2L
4,5 A; v(0) 1.i(0) 4,5V
For t = 0: i(0)
R1 R2
0 1 2
LC
2 t
2 t
For t > 0: v(t ) v f ( A1 A2 t )e 24 ( A1 A2 t )e
R1 = 4
At t = 0: v(0) 24 A1 4,5 A1 19,5
dv(t )
C 2 A1 2tA2 A2 e 2 t i(0) C 2 A1 A2 4,5 A2 57
dt
dv
v(t ) 24 19,5 57t e 2 t V
i(t ) C 4,5 28,5t e 2 t A
dt
i (t ) C
21
R2

R1

L
1H
24V
t=0
C
0,5F
+
-
R2
R1
0,5
24
2L
12 A; v(0) 1.i(0) 12 V
For t = 0: i(0)
R1 R2
0 1 2
LC
s1,2 2 02 0,5 j1,936
R1 = 1
0,5t
For t > 0: v(t ) 24 ( A1 cos1,936t A2 sin1,936t )e
At t = 0: v(0) 24 A1 12 A1 12
dv(t )
e 0,5t (1,936 A1 sin1,936t 1,936 A2 cos1,936t ) 0,5e 0,5t A1 cos1,936t A2 sin1,936t
dt
dv(0)
i(0)
1,936 A2 0,5 A1
48 A2 21,694
dt
C
v(t ) 24 (21,694 sin 0 t 12 cos 0 t )e0,5t V i(t ) (3,1sin 0 t 12 cos 0 t )e0,5t A
22

IV.2. Step response of a parallel RLC circuit
Applying KCL at the top node for t > 0
i
R
IS
t=0
+C
V
di
2
v L
I
v
dv
d
i
1 di
i
dt
iC
IS
2
S
R
dt
dt
RC dt RC LC
i(t ) in (t ) i f (t )
in (t ) : natural response
i f (t ) : forced response
Over damped:
i(t ) IS A1es1t A2 es2 t
t
Critically damped: i(t ) IS A1 A2 t e
Under damped:
A1, 2: determine from

the initial conditions:
i(0), di(0)/dt
i(t ) IS A1 cos d t A2 sin d t e t
23

t=0
i
IV.2. Step response of a parallel RLC circuit

Ex 8.6: Find i(t), iR(t) for t > 0
4A
L
20H
R2
iR
R1
20
i(0) 4 A
For t < 0:
R1
di(0) v(0)
v
V
(0)
30
15
0,75
R
R
dt
L
1
2
For t > 0: We have a parallel RCL circuit with current source R
8mF
20
V
30u(-t)V
R1 R2
10
R1 R2
1
6,25
s1 11,978
2 RC
2
2
s1,2 0
i(t ) I f A1e 11,978t A2 e 0,5218t
1
s2 0,5218
0
2,5
LC
i(0) 4 4 A1 A2 A1 A2
A1 0.0655
At t = 0: di(0)
dt 11,978 A1 0,5218 A2 0,75 A2 0.0655
1 di
L 0,785e 11,978t 0,0342e 0,5218t A
i(t ) 4 0.0655(e 0.5218t e 11.978t ) A iR (t )
20 dt
24

V. General second order circuits
Give a second order circuit, the step response x(t) (current or voltage) can be
determined by taking the following 5 steps:
Determine the initial conditions x(0) and dx(0)/dt and the final value x()
Find the natural response xn(t) (with 2 unknown constants) by turning off
independent sources and applying KCL and KVL.
Obtain the forced response as: xf(t) = x()
The total response is the sum of the natural response and forced response
x(t) = xn(t) + xf(t)
Determine the 2 unknown constants by imposing the initial conditions x(0)
and dx(0)/dt.
25

L
1H
Ex 8.7: Find the complete response v and i for t > 0.

Find the initial and final values:
v(0) 12 V v(0) v(0) 12 V
i(0) 0
i(0) i(0) 0
Applying KCL:
R1
R2
2
12V
C
0,5F
t=0
v(0)
dv(0) iC (0)
iC (0) 6 A
12 V / s
R2
dt
C
12
2 A, v() 2.i() 4 V v f (t )
i ( )
R1 R2
i(0) iC (0)
Find the natural response: Turn off the voltage source, and apply KCL, KVL
v
dv
i
C
d 2v
dv
R
dt
5
6v 0
2
2
vn (t ) Ae 2 t Be 3t
dt
dt
4i L di v 0
s 2 5s 6 0
dt
26

L
1H
R1
R2
Ex 8.7: Find the complete response v and i for t > 0.
12V
C
0,5F
The complete response is:
t=0
v(t ) vn (t ) v f (t ) 4 A.e 2 t B.e 3t

Imposing the initial condition gives:
A B 8
A 12
dv(0)
2
3
12
A
B
B 4
dt
i
v(t ) 4 12e 2 t 4e 3t V, t 0
v
dv
C
2 6e 2 t 2e 3t 12e 2 t 6e 3t 2 6e 2 t 4e 3t A, t 0
R2
dt
27

Ex 8.8: Find v0(t) for t > 0
L1
R1
0,5H
7u(t)V
Obtain the initial and final values of 2 currents
i1
V0
R2
i2
L2
0,2H
For t 0 : 7u(t ) 0 i1 (0) 0 i2 (0)
i1 (0) i1 (0) 0, i2 (0) i2 (0) 0
vL 2 (0) v0 (0) R2 i1 (0) i2 (0) 0
Applying KVL to the left loop at t = +0
7 R1i1 (0) vL1 (0) v0 (0) vL1 (0) 7 V
di1 (0) vL1
14 V / s
dt
L1
di2 (t ) vL 2
0
dt
L2
7
2,33 A
R1
di1
2
R
R
i
R
i
L
(
)
0
d
i1
di1
1
2
1
2
2
1
Applying KVL to 2 meshes

13
30i1 0
dt
2
dt
dt
di
to find natural responses: R (i i ) L 2 0
s 2 13s 30 0
2 2
1
2
dt
28
As t : i1 () i2 ()

s 3
s 2 13s 30 0 1
i1n Ae 3t Be 10 t
s2 10
L1
R1
0,5H
7u(t)V
i1
V0
R2
i2
L2
0,2H
i1 (t ) i1 f i1n 2,33 Ae 3t Be 10 t
Imposing the initial condition gives:
A B 2,33 0 A 1,33
i1 (t ) 2,33 1,33e 3t e 10 t A
B 1
3 A 10 B 14
Applying KVL to loop
7 4i1 i2 L1
di1
di
i2 7 4i1 L1 1 2,33 3,33e 3t e 10 t A
dt
dt
v0 (t ) R2 i1 (t ) i2 (t ) 2 e 3t e 10 t A
29

C2

10k R1
Applying KCL:
v v
dv v v
At node 1: S 1 C2 2 1 0
R1
dt
R2
1
V1
10u(t) mV
100F
+V R2 10k
20F
2
4
7
3
V0
VO
- C1
dv
v1 v0
dv
C1 0 v1 v0 R2 C1 0
dt
R2
dt
v v
dv
dv
v2 v1 v0
S 1 C2 2 C1 0
R1
dt
dt
At node 2 :
vS
d 2 v0
dv0
d 2 v0 1
v0
1 dv0
2
5v0 5vS
2
2
dt
dt
dt
R
C
R
C
dt
R
R
C
C
R
R
C
C
2 2
1 2 1 2
1 2 1 2
1 2
2
For the natural response, turning off the source: s 2s 5 0 s1,2 1 j 2
v0 n (t ) e t A cos 2t B sin 2t
30

C2

10k R1
As t : v0 () v1 () vS v0 f v0 () 10mV
V1
10u(t) mV
The complete response is:
100F
+V R2 10k
20F
2
4
7
3
V0
VO
- C1
v0 (t ) v0 n v0 f 10 e t A cos 2t B sin 2t
Find initial conditions:
v0 (0) v2 (0) 0
v0 (0) v2 (0) 0
v1 (0) v2 (0) v0 (0) 0
dv0 (0) v1 v0
0
dt
R2 C1
v0 (0) 10 A 0 A 10
dv0 (0)
dt A 2 B 0 B 5
The complete response becomes:
v0 (t ) 10 e t 10 cos 2t 5sin 2t mV
31
VI. Applications
Practical applications of RLC circuits are found in control and communications
circuits, for examples:
Ringing circuits
Peaking circuits
Resonant circuits
Smoothing circuits
Filters
Automobile ignition
Most of the circuits cannot be covered until we treat AC sources.
32

EE3706 - Chapter 8 - Second Order Circuits

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EE3706 - Chapter 8 - Second Order Circuits

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FUNDAMENTALS OF ELECTRIC CIRCUITS

Chapter 8: Second-order Circuits

Fundamentals of Electric Circuits Viet Son Nguyen - 2011

Chapter 8: Second-order circuits

Series RLC circuit

Chapter 8: Second-order circuits

The analysis of second-order will be similar to that

used for first-order:

conditions of the storage elements source free

circuitss give natural responses.

Second, with independent sources,

response and the forced response.

Op amp with 2 storage element

Chapter 8: Second-order circuits

VC (0) VC (0) ; iL (0) iL ( 0)

Chapter 8: Second-order circuits

t = -0: The circuit has reached DC steady state, so L acts

As vC(t) and iL(t) cannot change abruptly

Fundamentals of Electric Circuits Viet Son Nguyen - 2011

Chapter 8: Second-order circuits

t > 0: the circuit undergoes transience

Chapter 8: Second-order circuits

At t = -0: Circuit has reached steady state

iL (0) 0, vR (0) 0, vC (0) 20 V

iL (0) iL (0) 0, vC (0) vC ( 0) 20 V

Apply KVL to the middle mesh:

Fundamentals of Electric Circuits Viet Son Nguyen - 2011

Chapter 8: Second-order circuits

diL (0) vL (0)

Applying KVL in the right mesh gives:

dvC (0) iC (0)

Chapter 8: Second-order circuits

Consider the series RLC circuit that is excited by the

energy initially stored V0, and I0.

Chapter 8: Second-order circuits

Substituting the solution into the equation has:

roots s1 and s2 are called natural frequencies [Np/s]

Chapter 8: Second-order circuits

There are three types of solutions:

i1 A1.es1t , i2 A2 .es2 t i(t ) A1.es1t A2 .es2 t

Chapter 8: Second-order circuits

i(t ) A1.es1t A2 .es2 t

A typical over damped

Critically damped case = 0

i(t ) ( A1.t A2 ).e t

Fundamentals of Electric Circuits Viet Son Nguyen - 2011

A typical critically damped

Chapter 8: Second-order circuits

d: damped natural frequency

The natural response is:

i(t ) e t B1 cos d t B2 sin d t

The natural response is exponentially damped and oscillatory in nature.

Chapter 8: Second-order circuits

Chapter 8: Second-order circuits

III.1. The source-free series RLC circuit

Ex 8.3: Find i(t) in the circuit. Assume that the circuit

has reached steady state at t = -0.

For t > 0: Source free series RLC circuit

10, s1,2 2 02 9 j 4,359

Fundamentals of Electric Circuits Viet Son Nguyen - 2011

Chapter 8: Second-order circuits

III.2. The source-free parallel RLC circuit

Under damped ( 0 ) : s1,2 jd , d