ELL 100-Introduction to Electrical Engineering

CHAPTER: NATURAL RESPONSE OF SECOND ORDER CIRCUIT

LECTURE 11

Prof. Bhim Singh

Course Coordinator
CEA Chair Professor
FNAE, FNA, FNASc, FASc, FTWAS,FIEEE, FIET, FIETE, FIE (I), C. ENGR
Department of Electrical Engineering
Indian Institute of Technology Delhi
New Delhi-110016-India
Phone: (+91)-11-2659-1071(O)
+91-11-2659-1890(R), (+91)-9811502125(M)
Fax No. (+91)-11-2659-6199
Outline
 Insight and Real Life Applications
 Introduction
 Basic Concepts
 The source free series and parallel RLC Circuit analysis
 Underdamped, Overdamped and Critically response
 Exercise/Numerical Analysis

2
 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

Antennas Physics behind Antenna

 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

Nanoscale super-resonator
 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

Current Transducers
 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

Inrush current limiter

 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

Electrical circuit breaker Electronic oscillator

 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

Lightning arrester
 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

Surge arrester Fuses

 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

Spark-gap transmitter
 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

Electric Fan Ceiling fan wiring diagram

 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

Tube light RL choke Coil

 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

Tuned circuit oscillators RC Oscillators

 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

RLC projector Lamp Electric light dimmer

 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

LCR meters
 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

Model RLC compression Load cell CFL bulbs

 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

Line trap circuit

 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

Low-Pass RL Filters Low-pass RC filters

 INSIGHT AND REAL LIFE APPLICATIONS
Application of RC/RL/RLC

High-pass RC High-pass RL Series RLC Band-pass filters

Wide-Band Band-Pass Filters

 INTRODUCTION
• This lecture deals with the RLC circuits containing both an inductor
and a capacitor.
• These circuits have a wide range of applications including oscillators,
frequency filters, flight simulation, modeling automobile suspensions.
• The response of RLC circuits with DC sources and switches consist of
a natural response and a forced response:
v(t) = vf (t)+vn (t)

• The complete response must satisfy both the initial conditions and the
final conditions of the forced response.
Second-order circuit responses are described by second derivatives
differential equations
20
 BASIC CONCEPTS
Finding initial and final values
• Objective: Find v(0),i(0),dv(0)/dt ,di(0)/dt ,i(∞),v(∞)
• Two key points: (a) The direction of the current i(t) and (b) the polarity
of voltage v(t).
• v and i are defined according to the passive sign convention.

21
 BASIC CONCEPTS
• The capacitor voltage is always continuous:
v(0+) = v(0-)
• The inductor current is always continuous:
i(0+) = i(0-)
Learning objectives:
• To be able to determine the natural responses of parallel and series
RLC circuits.
• To understand what are the initial conditions in an RLC circuit. How to
use them to determine the expansion coefficients of the complete
solution.
• What do the response curves of over, under, and critically-damped
circuits look like? How to choose R, L, C values to achieve fast
switching or to prevent overshooting damage. 22
 THE SOURCE-FREE SERIES RLC CIRCUIT
Consider the given series RLC circuit,
• The circuit is being excited by the
energy initially stored in the
capacitor and inductor.
• The energy is represented by the
initial capacitor voltage V0 and
initial inductor current I0. Fig. A source-free series RLC circuit.
• Thus, at t = 0,
0
1
v(0)   i dt  V0
C 
i (0)  I 0
23
 THE SOURCE-FREE SERIES RLC CIRCUIT
t
di 1
On applying KVL, Ri  L   i ( ) d  0
dt C 
on differentiating,
2
d i R di i
2
  0
dt L dt LC
This is a second-order differential equation and is the reason for calling
the RLC circuits in this chapter second-order circuits.
The initial value and the first derivative are given as,
di (0) di (0) 1
Ri (0)  L  V0  0;   ( RI 0  Vo )
dt dt L
24
 THE SOURCE-FREE SERIES RLC CIRCUIT
Let, i = Aest
where, A and s are the constants. st
AR st Ae
Substitute this value, we obtain, As e 
2 st
se  0
L LC
st  2 R 1 
Ae  s  s  0
 L LC 
Equating the parenthesis to zero:
R 1
s  s
2
0
L LC
This quadratic equation is known as the characteristic
equation of the differential Eq.
25
The roots of the equation dictate the character of i and they are given as,
2
R  R  1
s1      
2L  2 L  LC
2
R  R  1
s2      
2L  2 L  LC
A more compact way of expressing the roots is,
s1      
2 2
0

s2      
2 2
0
where, R 1
 ; 0 
2L LC 26
 THE SOURCE-FREE SERIES RLC CIRCUIT
• The roots s1 and s2 are called natural frequencies, measured in nepers
per second (Np/s), because they are associated with the natural
response of the circuit;
• ω0 is known as the resonant frequency or strictly as the undamped
natural frequency, expressed in radians per second (rad/s);
• α is the neper frequency expressed in nepers per second.
The expression given is modified in terms of α and ω0,
R 1
s  s
2
0
L LC
s 2  2 s  02  0
27
 THE SOURCE-FREE SERIES RLC CIRCUIT
The two values of s indicate that there are two possible solutions for i,
i1  A1e ; i2  A2 e
s1t s2 t

• A complete or total solution of above Eq. would therefore require a

linear combination of i1 and i2.
• Thus, the natural response of the series RLC circuit is,
i (t )  A1e  A2e
s1t s2 t

where the constants A1 and A2 are determined from the initial values i(0)
and di(0) ∕dt.
Three types of solutions are inferred:
1. If α > ω0, we have the overdamped case.
2. If α = ω0, we have the critically damped case.
3. If α < ω0, we have the underdamped case.
28
• Overdamped Case (α > ω0)
α > ω0 implies C > 4L ∕ R2. When this happens, both roots s1 and s2 are
negative and real.
The response is given as, i (t )  A1e  A2e
s1t s2 t

(a) Overdamped response

29
• Critically Damped Case (α = ω0)
R
When α = ω0, C = 4L ∕ R and s1  s2    
2

For this case, 2L

i (t )  A1e  t  A2e  t  A3e  t
where A3 = A1 + A2 . This cannot be the solution, because the two initial
conditions cannot be satisfied with the single constant A3.
When α = ω0 = R ∕ 2L, then
2
d i di
2
 2   i  0
2

dt dt
d  di   di 
  i      i   0
dt  dt   dt 

30
 di
let, f    i, then,
dt
df
 f  0
dt
which is a first-order differential equation with solution f = A1e−αt, where
A1 is a constant. The equation becomes,
di Hence, the natural response of
  i  A1e  t
dt the critically damped circuit is

 e i   A1
 t di t d t a sum of two terms: a negative
e  e  i  A1 ;
dt dt exponential and a negative
on integration, exponential multiplied by a
linear term.
e t i  A1t  A2 ; i  ( A1t  A2 )e  t
31
• Underdamped Case (α < ω0)
For α < ω0, C < 4L ∕ R2. The roots may be written as,
s1    (0   )    jd
2 2

s2    (02   2 )    jd
where, j  1; d  02   2 is called the damped frequency.
Both ω0 and ωd are natural frequencies because they help determine the
natural response; while ω0 is often called the undamped natural
frequency, ωd is called the damped natural frequency. The natural
response is
 (  jd ) t  (  jd ) t
i (t )  A1e  A2e
 e  t ( A1e  jd t  A2 e  jd t
32
By using Euler’s identities,
i (t )  e  t [ A1 (cos d t  j sin d t )  A2 (cos d t  j sin d t )]
 t
 e [( A1  A2 ) cos d t  j ( A1  A2 )sin d t ]
 t
i (t )  e [ B1 cos d t  B2 sin d t ]
Note:
With the presence of sine and cosine functions, it is clear that the natural
response for this case is exponentially damped and oscillatory in nature.
The response has a time constant of 1∕α and a period of T = 2π∕ωd.

33
Conclusion:
(i) The damping effect is due to the presence of resistance R.
• The damping factor a determines the rate at which the response is
damped.
• If R = 0, then α = 0 and we have an LC circuit with 1/ LC as the
undamped natural frequency. Since α < ω0 in this case, the response is
not only undamped but also oscillatory.
• The circuit is said to be lossless because the dissipating or damping
element (R) is absent.
• By adjusting the value of R, the response may be made undamped,
overdamped, critically damped or underdamped.

34
(ii) Oscillatory response is possible due to the presence L and C.
• The damped oscillation exhibited by the underdamped response is
known as ringing. It stems from the ability of the storage elements L
and C to transfer energy back and forth between them.

(iii) The overdamped has the longest settling time because it takes the
longest time to dissipate the initial stored energy.
• If we desire the fastest response without oscillation or ringing, the
critically damped circuit is the right choice.

35
Problem 1: The switch has been closed for a long time. It is open at t = 0.
Find: (a) i(0+), v(0+), (b) di(0+) ∕dt, dv(0+) ∕dt, (c) i(∞), v(∞).

Solution:
(a) If the switch is closed a long time before t = 0, it means that the circuit
has reached dc steady state at t = 0. At dc steady state, the inductor acts
like a short circuit, while the capacitor acts like an open circuit. So, the
solution at t = 0- is,
36
 i(0-) = (12)/(4 + 2) = 2 A, v(0-) = 2i(0-) = 4 V

(a) t = 0- (b) t = 0+ (c) t → ∞

As the inductor current and the capacitor voltage cannot change abruptly,
i(0+) = i(0-) = 2 A, v(0+) = v(0-) = 4 V
(b) At t = 0+, the switch is open, same current flows through both the
inductor and capacitor.
Hence,
iC(0+) = i(0+) = 2 A
37
 dv dv ic
Since, ic  C ; 
dt dt C
dv(0 ) ic (0 ) 2
   20V/s
dt C 0.1
di di vL
vL  L ;  (b) t = 0+
dt dt L
vL is obtained by applying KVL in the loop,
−12 + 4i(0+) + vL(0+) + v(0+) = 0
vL(0+) = 12 − 8 − 4 = 0
 
di (0 ) vL (0 ) 0
   0A/s
dt L 0.25
38
(c) For t > 0,
• The circuit undergoes transience.
• As t → ∞, the circuit reaches steady state again. (c) t → ∞
• The inductor acts like a short circuit and the capacitor like an open
circuit.
we get,
i(∞) = 0 A, v(∞) = 12 V

39
Problem 2: For the given circuit, R= 40 Ω, L = 4 H, and C = 1∕4 F.
Calculate the characteristic roots of the circuit. Is the natural response
overdamped, underdamped, or critically damped?

Solution:
R 1
Calculate,   5; 0  1
2L LC
40
The roots are, s1     2  02
s2      
2 2
0

s1  5  52  1
s2  5  52  1
s1=-0.101; s1=-9.899
Since α > ω0, we conclude that the response is overdamped.
This is also evident from the fact that the roots are real and negative.

41
Problem 3: Find i(t) in the circuit. Assume that the circuit has reached
steady state at t = 0-.

Solution: For t < 0, the switch is closed, The equivalent circuit is Fig. a.

(a) for t < 0 (b) for t > 0. 42

 10
Thus, at t=0, i (0)   1A; v(0)  6i(0)  6V
46
For t > 0, the switch is opened and the voltage source is disconnected.
The equivalent circuit is Fig. b.
The roots are calculated as follows:
R 1
  9; 0   10
2L LC
s1  9  92  100
s2  9  92  100
s1,2  9  j 4.359 (b) for t > 0
43
Hence, the response is underdamped (α < ω); that is,
9 t
i (t )  e [ A1 (cos 4.359t )  A2 (sin 4.359t )]
A1 and A2 are found using the initial conditions.
At t = 0, i(0) = 1 = A1
di 1
t 0   [ Ri (0)  v(0)]  6 A / s
dt L
Taking the derivative of i(t )
di 9 t 9 t
 9e [ A1 (cos 4.359t )  A2 (sin 4.359t )]  e (4.359)[  A1 (sin 4.359t ) 
dt
A 2 (cos 4.359t )]
44
 6  9(A1  0)  4.359(0  A 2 )
substituting A1  1
6  9  4.359 A2
A2  0.6882
Substituting the values of A1 and A2 yields the complete solution as,

i (t )  e 9t [(cos 4.359t )  0.6882(sin 4.359t )]A

45
 THE SOURCE-FREE PARALLEL RLC CIRCUIT
• Consider the parallel RLC circuit.
• Assume initial inductor current I0 and
initial capacitor voltage
0
V0,
1
i (0)  I 0   v(t )dt
L 
v(0)  V0
• Three elements are in parallel, they
have the same voltage v across them.
• Applying KCL at the top node gives,
0
Fig. A source-free parallel RLC circuit.
v 1 dv
  v( )d  C 0
R L  dt
46
 THE SOURCE-FREE PARALLEL RLC CIRCUIT
Taking the derivative w.r.t ‘t’,
d 2 v 1 dv 1
2
  v0
dt RC dt LC
The characteristic equation is given as,
1 1
s 
2
s 0
RC LC
Roots of the characteristic equation are,
2
1  1  1
s1,2     
2 RC  2 RC  LC
1 1
s1,2      0 ,  
2 2
, 0 
2 RC LC 47
• Overdamped Case (α > ω0)
α > ω0 when L > 4R2C. The roots of the characteristic equation are real and
negative. The response is,
v(t )  A1e  A2e
s1t s2 t

• Critically Damped Case (α = ω0)

For α = ω0, L = 4R2C. The roots are real and equal so that the response is,
v(t )  ( A1  A2 t)e  t
• Underdamped Case (α < ω0)
When α < ω0, L < 4R2C. In this case the roots are complex and may be
expressed as,
s1,2    jd ; d  0  
2 2

v(t )  e  t ( A1 cos d t  A2 sin d t )

48
• The constants A1 and A2 in each case can be determined from the initial
conditions. We need to Find v(0) and dv(0) ∕dt
V0 dv(0)
 I0  C 0
R dt
dv(0) (V0  RI 0 )

dt RC

(a) Overdamped (b) Critically (c)Underamped

response damped response response 49
Problem 4: In the given parallel circuit, find v(t) for t > 0, assuming v(0) =
5 V, i(0) = 0, L = 1 H, and C = 10 mF. Consider these cases: 1) R = 1.923
Ω, 2) R = 5 Ω, and 3) R = 6.25 Ω.

Solution: Case 1:
If R = 1.923 Ω, 1 1
  3
 26;
2 RC 2 1.923 10 10
1 1
0    10
LC 110 103
50
Since α > ω0, the response is overdamped. The roots of the characteristic
equation are, s1     2  02  2
s2     2  02  50
v(t )  A1e 2t  A2 e 50t
Applying intial conditions,
v(0)=5=A1  A2
dv(0) v(0)  Ri (0)
  260
dt RC
on differentiating,
dv
 2 A1e 2t  50 A2 e 50t
dt 51
 at t  0, -260=-2A1  50 A2
The obtained values are,
A1  0.2083, A2  5.208
v(t )  0.2083e 2t  5.208e 50t
CASE 2: When R = 5 Ω,
1 1
  3
 10;
2 RC 2  5 10 10
1 1
0    10
LC 110 103
Since α = ω0 = 10, the response is critically damped. Hence, s1 = s2 = −10
v(t )  ( A1  A2 t)e  t
52
Applying intial conditions,
v(0)=5=A1
dv(0) v(0)  Ri (0)
  100
dt RC
on differentiating,
dv 10 t
 (10 A1  10 A2t  A2 )e
dt
at t  0, -100=-10A1  A2
The obtained values are,
v(t )  (5  50t )e 10tV
53
CASE 3: When R = 6.25 Ω,
1 1
  3
 8;
2 RC 2  6.25 10 10
1 1
0    10
LC 110 103
As α < ω0 in this case, the response is underdamped. The roots of the
characteristic equation are,
s1,2    jd  8  j 6
v(t )  e 8t ( A1 cos 6t  A2 sin 6t )
We now obtain A1 and A2, as

54
 v(0)=5=A1
dv(0) v(0)  Ri (0)
  80
dt RC
on differentiating,
dv
 (8 A1 cos 6t  8 A2 sin 6t  6 A1 sin 6t  6 A2 cos 6t )e 8t
dt
The obtained values are,
at t  0, -80=-8A1  6 A2
A1  5; A2  6.667
v(t )  (5cos 6t  6.667 sin 6t )e 8tV
55
Fig. responses for three degrees of damping. 56
Problem 5: Find v(t) for t > 0 in the RLC circuit.

Solution:
• At t < 0, the switch is open;
• Inductor acts like a short circuit, capacitor behaves like an open circuit.
• The initial voltage across the capacitor is the same as the voltage
across the 50-Ω resistor; that is,
57
 50
v(0)  (40)  25;
30  50
40
i (0)   0.5 A
30  50
Expression dv∕dt is given as,
dv(0) v(0)  Ri (0)
 0
dt RC
When t > 0, the switch is closed. The voltage source along with the 30-Ω
resistor is separated from the rest of the circuit,
1 1
  6
 500;
2 RC 2  50  20 10
1
0   354
LC
58
 s1,2        500  354
2 2
0

s1  854; s2  146
Since α > ω0, we have the overdamped
response,
v(t )  A1e 854t  A2e 146t

Applying intial conditions,

v(0)=25=A1  A2
on differentiating,
dv
 854 A1e 854t  146 A2 e 146t
dt
59
Applying the conditions,
dv(0)
 0  854 A1  146 A2
dt
A1  5.156; A2  30.16
Thus, the complete solution is given as,
v(t )  5.156e 854t  30.16e 146tV

60
 EXERCISE AND NUMERICAL EXAMPLES
Finding Initial and Final Values

Problem 6:For the circuit, find:

(a) i(0+) and v(0+),
(b) di(0+) ∕ dt and dv(0+) ∕ dt,
(c) i(∞) and v(∞)

Ans: (a) i(0+)= 2A, v(0+)=12V

(b) di(0+) ∕ dt = -4A/s, dv(0+) ∕ dt= -5V/s
(c) i(∞)=0A, v(∞)=0V

61
 EXERCISE AND NUMERICAL EXAMPLES

Problem 7: Refer to the circuit. Calculate:

(a) iL(0+), vC(0+), and vR(0+)
(b) diL(0+) ∕dt, dvC(0+) ∕dt, and dvR(0+) ∕dt
(c) iL(∞), vC(∞), and vR(∞).

Ans: (a) iL(0+)=0A, vC(0+)=-10V, vR(0+)=0V

(b) diL(0+) ∕dt= 0A/s ,dvC(0+) ∕dt=8V/s, dvR(0+) ∕dt=8V/s
(c) iL(∞)=400mA, vC(∞)=6V, = vR(∞)=16V

62
 EXERCISE AND NUMERICAL EXAMPLES

Problem 8:Refer to the circuit. Determine:

(a) i(0+) and v(0+)
(b) di ∕(0+)dt and dv(0+) ∕dt
(c) i(∞) and v(∞).

Ans: (a) i(0+) = 0A ,v(0+) = 0V

(b) di ∕(0+)dt = 4A/s, dv(0+) ∕dt =0V/s
(c) i(∞) = 2.4A, v(∞) = 9.6V

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 EXERCISE AND NUMERICAL EXAMPLES

Problem 9: In the circuit, find:

(a) vR(0+) and vL(0+)
(b) dvR(0+) ∕dt and dvL(0+) ∕dt
(c) vR(∞) and vL(∞)

Ans: (a) vR(0+) =0V , vL(0+) =0V

(b) dvR(0+) ∕dt =0V/s , dvL(0+) ∕dt = Vs/(CRs)
(c) vR(∞) = [R/(R + Rs)]Vs, vL(∞) =0V

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 EXERCISE AND NUMERICAL EXAMPLES
Source-Free Series RLC Circuit
Problem 10: The current in an RLC circuit is described by
d 2i di
2
 10  25i  0
dt dt
If i(0) = 10 A and di(0) ∕dt = 0, find i(t) for t > 0.
Ans: i(t) = [(10 + 50t)e-5t] A
Problem 11: The natural response of an RLC circuit is described by the
differential equation,
d 2v dv
2
2 v 0
dt dt
for which the initial conditions are v(0) = 10 V and dv(0) ∕dt = 0. Solve for
v(t). Ans: v(t) = [(10 + 10t)e-t] V
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 EXERCISE AND NUMERICAL EXAMPLES
Problem 12: The switch moves from position A to position B at t = 0
(please note that the switch must connect to point B before it breaks the
connection at A, a make-before-break switch). Let v(0) = 0, find v(t) for t
> 0.

Ans: v(t) =5.333e–2t–5.333e–0.5t V

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 EXERCISE AND NUMERICAL EXAMPLES
Problem 13: In the circuit, the switch instantaneously moves from
position A to B at t = 0. Find v(t) for all t ≥ 0.

Ans: v(t) = [21.55e-2.679t – 1.55e-37.32t] V

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 EXERCISE AND NUMERICAL EXAMPLES
Problem 14: The switch in the circuit has been closed for a long time but
is opened at t = 0. Determine i(t) for t > 0.

Ans: i(t) = (15cos(2t) + 15sin(2t))e-2t A 68

 EXERCISE AND NUMERICAL EXAMPLES
Source-Free Parallel RLC Circuit

Problem 15: For the network, what value of C is needed to make the
response underdamped with unity neper frequency (α = 1)?

Ans: C = 40 mF
69
 EXERCISE AND NUMERICAL EXAMPLES
Problem 16: The switch moves from position A to position B at t = 0
(please note that the switch must connect to point B before it breaks the
connection at A, a make-before-break switch). Determine i(t) for t > 0.

Ans: i(t) = e–5t[4cos(19.365t) + 1.0328sin(19.365t)] A

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 EXERCISE AND NUMERICAL EXAMPLES
Problem 17: A source free RLC has R= 1Ω, C=1nF and L= 1pF.
Calculate (a) calculate α and ω0
(b) s1and s2
(c)What is the form of inductor current response for t>0.

Ans: (a) α =5x108 s-1 , ω0=3.16x1013 rad/s

(b) s1and s2= 0.5 10  j 10  (0.25)(10 )
9 21 18

(c) The circuit is underdamped since α <ω0

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 EXERCISE AND NUMERICAL EXAMPLES
Problem 18:Assuming R=2kΩ, design a parallel RLC circuit that has the
characteristic equation
s 2  100 s  106  0

Ans: L=20H, C=50nF

Problem 19: Calculate io(t) and vo(t) for t > 0.

Ans: vo(t) =(24cos1.9843t + 3.024sin1.9843t)e-t/4 V

io(t) =[– 12.095sin1.9843t]e–t/4 A. 72
 REFERENCES

[1] Charles K. Alexander and Matthew N. O. Sadiku,

“Fundamentals of Electric Circuits”, 6th Ed., McGraw Hill,
Indian Edition, 2013.

[2] William H. Hayt, Jr., Jack E. Kemmerly, Steven M.

Durbin, “Engineering Circuit Analysis” 8th Ed., McGraw-
Hill, New York, 2012.

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THANK YOU