First Order And Second Order

Response Of RL And RC Circuit

Topic 5

First-Order and Second-Order

Response of RL and RC Circuit
Natural response of RL and RC Circuit
Step Response of RL and RC Circuit
General solutions for natural and step response
Sequential switching
Introduction to the natural and step response of
RLC circuit
Natural response of series and parallel RLC circuit
Step response of series and parallel RLC circuit

Natural response of RL and RC

Circuit
RL- resistor-inductor
RC-resistor-capacitor
First-order circuit: RL or RC circuit
because their voltages and currents
are described by first-order
differential equation.

 Natural response: refers to the

behavior (in terms of voltages and
currents) of the circuit, with no
external sources of excitation.

Natural response of RC circuit

Consider the conditions below:

1. At t < 0, switch is in a closed position
for along time.
2. At t=0, the instant when the switch is
opened
3. At t > 0, switch is not close for along
time

For t 0, v(t) = V0.

For t 0:
ic iR 0
dv(t ) v(t )
C

0
dt
R
dv(t ) v(t )

0
dt
RC
dv(t )
v(t )

dt
RC
dv(t )
1

dt
v(t )
RC

du
1

dv
u
RC
v (t ) 1
1 t
V0 u du RC 0 dv
1
ln v(t ) ln V0
(t 0)
RC
v(t )
t
voltage

ln
RC
V0
v(t ) V0 e

t RC

 Thus for t > 0,

v(t ) V0 e

t RC

v(t )
V0
ic (t )
e
R
R

RC

1
1
2
2
W (t ) C v(t ) C V0 e
2
2

2t

RC

The graph of the natural response

of RC circuit

v(t ) V0
V0 e

t0
t RC

t0

 The time constant, = RC and thus,

v(t ) V0 e

 The time constant, determine how

fast the voltage reach the steady state:

Natural response of RL circuit

Consider the conditions below:

1. At t < 0, switch is in a closed position
for along time.
2. At t=0, the instant when the switch is
opened
3. At t > 0, switch is not close for along
time

 For t 0, i(t) = I0
For t > 0,
v(t ) R i (t ) 0
di (t )
L
R i (t ) 0
dt
di (t )
L
R i (t )
dt
di (t )
R
dt
i (t )
L
du
R
dv
u
L

1
R t
i (0) u du L 0 dv
R
ln i (t ) ln i (0) (t 0)
L
i (t )
R current
t
ln
L
i (0)
i (t )

i (t ) i (0) e

t R L

 Thus for t > 0,

i (t ) I 0 e

t R L

v(t ) i (t ) R
RI 0 e

t R L

1
2
w(t ) L i (t )
2
1
2 2t R L
LI 0 e
2

Example

The switch in the circuit has been closed

for along time before is opened at t=0.
Find
a) IL (t) for t 0
b) I0 (t) for t 0+
c) V0 (t) for t 0+
d) The percentage of the total energy
stored in the 2H inductor that is
dissipated in the 10 resistor.

Solution
a) The switch has been closed for along
time prior to t=0, so voltage across the
inductor must be zero at t = 0-.
Therefore the initial current in the
inductor is 20A at t = 0-. Hence iL (0+)
also is 20A, because an instantaneous
change in the current cannot occur in
an inductor.

 The equivalent resistance and time

constant:

Req 2 40 10 10
L
2

0.2 sec
Req 10

 The expression of inductor current, iL(t)

as,

i L (t ) i (0 ) e
20 e

5t

t0

b) The current in the 40 resistor

can be determine using current
division,

10
i0 i L

10 40

 Note that this expression is valid for

t 0+ because i0 = 0 at t = 0-.
The inductor behaves as a short
circuit prior to the switch being
opened, producing an instantaneous
change in the current i0. Then,

i0 (t ) 4e

5t

t0

c) The voltage V0 directly obtain

using Ohms law

V0 (t ) 40i0
5t

160e V

t0

d) The power dissipated in the 10

resistor is
2

V0
p10 (t )
10
10 t
2560 e W

t0

The total energy dissipated in the

10 resistor is

W10 (t ) 2560e
0

256 J

10 t

dt

The initial energy stored in the 2H

inductor is

1 2
W (0) L i (0)
2
1
2 400 400 J
2

 Therefore the percentage of

energy dissipated in the 10
resistor is,

256
100 64%
400

First-Order and Second-Order

Response of RL and RC Circuit
Natural response of RL and RC Circuit
Step Response of RL and RC Circuit
General solutions for natural and step response
Sequential switching
Introduction to the natural and step response of
RLC circuit
Natural response of series and parallel RLC circuit
Step response of series and parallel RLC circuit

Step response of RC circuit

The step response of a circuit is its behavior
when the excitation is the step function, which
maybe a voltage or a current source.

Consider the conditions below:

1. At t < 0, switch is in a closed and
opened position for along time.
2. At t=0, the instant when the switch is
opened and closed
3. At t > 0, switch is not close and
opened for along time

 For t 0, v(t)=V0
For t > 0,
Vs v(t ) Ri (t )

1
du

dv
RC
u Vs

dv(t ) t ln v(t ) V lnV V

s
0
s
Vs v(t ) RC
RC
dt
v(t ) Vs
voltage
t
1
dv(t )

ln
dt
RC
V0 Vs
RC
Vs v(t )
t RC
v(t ) Vs V0 Vs e
1
dv(t )

dt
t

RC
v(t ) Vs
Vs V0 Vs e

 Thus for t >0

V Vs V0 Vs e
V f Vn
Where

V f V s
Vn V0 Vs e

 Vf = force voltage or also known

as steady state response
Vn = transient voltage is the
circuits temporary response that
will die out with time

Graf Sambutan Langkah Litar RC

force
total
Natural

 The current for step response of RC circuit

dv
i (t ) C
dt
1
t
C (V0 Vs )e

1
t
V0 Vs e
R
Vs V0 t

e
R R

i (t ) i (0 )e

Step response of RL circuit

Consider the conditions below:

1. At t < 0, switch is in a opened
position for along time.
2. At t=0, the instant when the switch is
closed
3. At t > 0, switch is not open for along
time

 i(t)=I0 for t 0.
For t > 0,
Vs Ri (t ) v(t )
di (t )
Vs Ri (t ) L
dt
Vs
L di (t )
i (t )
R
R dt
R
di (t )
dt V
s
L
R i (t )
R
di
dt
L
i Vs R

R
du
dv
L
u Vs R
i (t )
R t
du
dv
I 0 u Vs
L 0
R
R
t ln i (t ) Vs R ln I 0 Vs R
L
i (t ) Vs R
R

t ln
Curre
Vs
L
I0 R

i (t )

Vs

I0

Vs

t R L

Thus,

i (t ) I 0

Vs

I0

Vs

di (t )
v(t ) L
dt
t R L
Vs R I 0 e

t0
t R L

t0
t0
t0

Question
The switch in the circuit has been
open for along time. The initial charge
on the capacitor is zero. At t = 0, the
switch is closed. Find the expression for
a) i(t) for t 0
b) v(t) when t 0+

t0

7.5mA

v(t )

0.1F
i( t )

20k

30

Answer (a)
Initial voltage on the capacitor is
zero. The current in the 30k resistor
is

(7.5)(20)
i (0 )
3mA
50

 The final value of the capacitor

current will be zero because the
capacitor eventually will appear as an
open circuit in terms of dc current.
Thus if = 0.
The time constant, is

(20 30)10 (0.1) 10

5ms
3

 Thus, the expression of the current

i(t) for t 0 is

i ( t ) i (0 )e
3e
3e

510 3

200 t

mA t 0

Answer (b)
The initial value of voltage is zero
and the final value is

Vf (7.5)(20) 150V

 The capacitor vC(t) is

v C ( t ) Vf V0 Vf e

150 (0 150)e 200 t

150 150e

200 t

V t0

Thus, the expression of v(t) is

v( t ) 150 150e
(150 60e

200 t

200 t

(30)(3)e

)V t 0

200 t

First-Order and Second-Order

Response of RL and RC Circuit
Natural response of RL and RC Circuit
Step Response of RL and RC Circuit
General solutions for natural and step response
Sequential switching
Introduction to the natural and step response of
RLC circuit
Natural response of series and parallel RLC circuit
Step response of series and parallel RLC circuit

General solutions for natural and

step response
There is common pattern for voltages,
currents and energies:

v(t ) V f V0 V f e

i (t ) I f I 0 I f e

W (t ) W f W0 W f e

t
2t

The general solution can be

compute as:

x(t ) x f x0 x f e

Write out in words:

the unknown
var iable as a

function of time

the final
the initial the final

value of the value of the value of the

var iable

var iable var iable

t
time cons tan t

When computing the step and natural responses of

circuits, it may help to follow these steps:
1. Identify the variable of interest for the circuit. For
RC circuits, it is most convenient to choose the
capacitive voltage, for RL circuits, it is best to
choose the inductive current.
2. Determine the initial value of the variable, which is
its value at t0.
3. Calculate the final value of the variable, which is its
value as t.
4. Calculate the time constant of the circuit, .

First-Order and Second-Order

Response of RL and RC Circuit
Natural response of RL and RC Circuit
Step Response of RL and RC Circuit
General solutions for natural and step response
Sequential switching
Introduction to the natural and step response of
RLC circuit
Natural response of series and parallel RLC circuit
Step response of series and parallel RLC circuit

Sequential switching
Sequential switching is whenever
switching occurs more than once in a
circuit.
The time reference for all switchings
cannot be t = 0.

Example

First switch move form a to b at t=0 and

second switch closed at t=1ms. Find the
current, i for t 0.

 Step 1: current value at t=0- is determine

as assume that the first switch at point a
and second switch opened for along time.
Therefore, the current, i(0-)=10A.
When t=0, an RL circuit is obtain as

L
1ms.
R
Thus the current for 0 t 1ms is,

i 10e

1000 t

 At t=t1=1ms,

i (t1 ) 10e

3.68 A
When switch is closed at t=1ms, the equivalent
resistance is 1. Then,

L 2
1 2ms
R 1

 Thus i for t 1ms is

i i (t1 ) e
3.68 e

( t t1 )

( t t1 )

The graph of current for t 0

First-Order and Second-Order

Response of RL and RC Circuit
Natural response of RL and RC Circuit
Step Response of RL and RC Circuit
General solutions for natural and step response
Sequential switching
Introduction to the natural and step response of RLC
circuit
Natural response of series and parallel RLC circuit
Step response of series and parallel RLC circuit

Second order response for RLC c

RLC circuit: consist of resistor,
inductor and capacitor
Second order response : response
from RLC circuit
Type of RLC circuit:
1. Series RLC
2. Parallel RLC

Natural response of parallel RLC

Summing all the currents away

from node,

V 1 t
dv
vd I 0 C
0
R L 0
dt

Differentiating once with respect

to t,
2

1 dv v
d v
C 2 0
R dt L
dt
2

d v
1 dv
v

0
2
dt
RC dt LC

Assume that

v Ae

st

As st
A st
As e
e
e 0
RC
LC
2

st

s
1
Ae s

0
LC
RC

st

characteristic equation

Characteristic equation is zero:

s
1

s
0
RC LC

The two roots:

1
1
s1

2 RC
2 RC

LC

1
1
s2

2 RC
2 RC

LC

The natural response of series

RLC:

v A1 e A2 e
s1t

s2t

 The two roots:

s1 0

s2 0

where:

2 RC

1
LC

Summary
Parameter

Terminology

Value in natural
response

s 1, s 2

Charateristic
equation

s1 2 0

Neper frequency
Resonant radian
frequency

s2 2 0

2 RC
0

1
LC

 The two roots s1 and s2 are depend on

and o value.
3 possible condition is:
1. If o < 2 , the voltage response is
overdamped
2. If o > 2 , the voltage response is
underdamped
3. If o = 2 , the voltage response is
critically damped

Overdamped voltage response

overdamped voltage solution

v A1 e

s1t

A2 e

s2t

 The constant of A1 dan A2 can be

obtain from,

v(0 ) A1 A2

dv(0 )
s1 A1 s2 A2
dt

 The value of v(0+) = V0 and initial

value of dv/dt is

dv(0 ) iC (0 )

dt
C

The process for finding the overdamped

response, v(t) :
1. Find the roots of the characteristic
equation, s1 dan s2, using the value 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

equation below simultaneously:

v(0 ) A1 A2

dv(0 ) iC (0 )

s1 A1 s2 A2
dt
C
4. Substitute the value for s1, s2, A1 dan A2
to determine the expression for v(t) for t
0.

Example of overdamped voltage

response for v(0) = 1V and i(0) =
0

Underdamped voltage response

When o2 > 2, the roots of the
characteristic equation are
complex and the response is
underdamped.

The roots s1 and s2 as,

s1 (0 )
2

j 0
2

jd

s2 jd
d : damped radian frequency

The underdamped voltage

response of a parallel RLC circuit
is

v( t ) B1 e

B2 e

cos d t

sin d t

The constants B1 dan B2 are real

not complex number.
The

two simultaneous equation that

determine B1 and B2 are:

v(0 ) V0 B1

dv(0 ) iC (0 )

1B1 d B2
dt
C

Example of underdamped voltage

response for v(0) = 1V and i(0) = 0

Critically Damped voltage

response
A circuit is critically damped when
o2 = 2 ( o = ). The two roots of
the characteristic equation are real
and equal that is,

1
s1 s2
2 RC

 The solution for the voltage is

v(t ) D1t e

D2 e

The two simultaneous equation needed to

determine D1 and D2 are,

v(0 ) V0 D2

dv(0 ) iC (0 )

D1 D2
dt
C

Example of the critically damped

voltage response for v(0) = 1V and
i(0) = 0

The step response of a

parallel RLC circuit

From the KCL,

iL iR iC I
v
dv
iL C
I
R
dt

Because

We get

di
vL
dt
2

dv
d iL
L 2
dt
dt

Thus,
2

L diL
d iL
iL
LC 2 I
R dt
dt
2

d iL
1 diL
iL
I

2
dt
RC dt LC LC

There is two approach to solve the

equation that is direct approach
and indirect approach.

Indirect approach
From the KCL:

1 t
v
dv
vd

0
L
R
dt

Differentiate once with respect to

t:
2

v 1 dv
d v

C 2 0
L R dt
dt
2

d v
1 dv
v

0
2
dt
RC dt LC

 The solution for v depends on the

roots of the characteristic equation:

v A1 e A2 e
s1t

v B1 e

B2 e

v D1t e

s2t

cos d t

sin d t

D2 e

Substitute into KCL equation :

iL I A1 e A2 e

s1t

s2t

iL I B1 e cos d t
t
B2 e sin d t
t
t
iL I D1 t e D2 e

Direct approach
It is much easier to find the primed
constants directly in terms of the
initial values of the response
function.

A1 , A2 , B1 , B2 , D1 , D2

The primed constants could be

find from

i L ( 0)

and

diL (0)
dt

The solution for a second-order

differential equation equals the
forced response plus a response
function identical in form to
natural response.

 If If and Vf is the final value of the

response function, the solution for the
step function can be write in the form,

Function of the same form

i If

as the natural response

function of the same form

v Vf

as the natural response

Natural response of a series RLC

The procedures for finding the
natural response of a series RLC
circuit is the same as those to find the
natural response of a parallel RLC
circuit because both circuits are
described by differential equations
that have same form.

Series RLC circuit

Summing the voltage around the

loop,

di 1 t
Ri L i d V0 0
dt C 0

Differentiate once with respect to

t,
2

di
d i i
R L 2 0
dt
dt
C
2

d i R di
i

0
2
dt
L dt LC

The characteristic equation for the

series RLC circuit is,

R
1
s s
0
L
LC
2

The roots of the characteristic

equation are,
2

s1, 2

R
1
R

2L
LC
2L
@

s1, 2 0
2

Neper frequency () for series

RLC,

rad / s
2L

And the resonant radian frequency,

1
rad / s
LC

The current response will be

overdamped, underdamped or
critically damped according to,

0
2

0
2

0
2

 Thus the three possible solutions fo

the currents are,

i (t ) A1 e A2 e
s1t

i (t ) B1e

B2 e
i (t ) D1t e

cos d t

s2t

sin d t

D2 e

Step response of series RLC

The procedures is the same as the
parallel circuit.

Series RLC circuit

Use KVL,

di
v Ri L vC
dt

The current, i is related to the

capacitor voltage (vC ) by
expression,

dv C
iC
dt

Differentiate once i with respect

to t
2
C
2

di
d v
C
dt
dt

Substitute into KVL equation,

2

d vC R dvC vC
V

2
dt
L dt
LC LC

 Three possible solution for vC are,

s1t

vC V f A1 e A2 e
vC V f B1 e

B2 e

s2t

cos d t

sin d t

t
t
vC V f D1 t e D2 e

Example 1 (Step response of parallel

RLC)
The initial energy stored in the circuit is zero.
At t = 0, a DC current source of 24mA is
applied to the circuit. The value of the resistor
is 400.
1. What is the initial value of iL?
2. What is the initial value of diL/dt?
3. What is the roots of the characteristic
equation?
4. What is the numerical expression for iL(t)
when t 0?

Solution
1. No energy is stored in the circuit
prior to the application of the DC
source, so the initial current in the
inductor is zero. The inductor
prohibits an instantaneous change in
inductor current, therefore iL(0)=0
immediately after the switch has
been opened.

2. The initial voltage on the capacitor is

zero before the switch has been
opened, therefore it will be zero
immediately after. Because

di L
vL
dt

thus

di L (0 )
0
dt

3. From the circuit elements,

12

1
10
8

16 10
LC (25)(25)
9

1
10

2 RC (2)(400)(25)
5 10 rad / s
4

25 10
2

Thus the roots of the

characteristic equation are real,

s1 5 10 3 10
4

20 000 rad / s
s 2 5 10 3 10
4

80 000 rad / s

4. The inductor current response

will be overdamped.

i L I f A1 e

s1t

A2 e

s2t

Two simultaneous equation:

i L (0) I f A1 A2 0
di L (0)

s1 A1 s 2 A2 0
dt

A1 32mA

A2 8mA

 Numerical solution:

24 32e

iL (t )

80000 t

8e
for
t0

20000 t

mA

Example 2 (step response

of series RLC)

No energy is stored in the

100mH inductor or 0.4F
capacitor when switch in the
circuit is closed. Find vC(t) for
t 0.

Solution
The roots of the characteristic equation:
2

280
10
280
s1


0.1 0.4
0.2
0. 2
1400 j 4800 rad / s
s 2 1400 j 4800 rad / s

The roots are complex, so the

voltage response is underdamped.
Thus:

1400 t

vC 48 B1 e
cos 4800t
1400t
B2 e
sin 4800t
t0

No energy is stored in the circuit

initially, so both vC(0) and
dvC(0+)/dt are zero. Then:

vC (0) 0 48 B1

dvC (0 )

0 4800 B2 1400 B1
dt

 Solving for B1and B2yields,

B1 48V

B2 14V

 Thus, the solution for vC(t),

48 48 e

vC (t )

1400 t

1400 t

cos 4800t

sin 4800t
14 e
for
t0