ELL 100 - Introduction to Electrical Engineering

LECTURE 12:
TRANSIENT RESPONSE OF SECOND-ORDER CIRCUITS
(FORCED RESPONSE)

1
 STEP RESPONSE OF SERIES RLC CIRCUIT
 The step response is obtained by the sudden application of a
DC source as shown below

2
 STEP RESPONSE OF SERIES RLC CIRCUIT
 Applying KVL around the loop for t > 0,
di
L  Ri  v  Vs
dt
dv
where i  C
dt

 Substituting for i in the above equation and rearranging terms,

2
d v R dv v Vs
2
  
dt L dt LC LC
3
 STEP RESPONSE OF SERIES RLC CIRCUIT
 The solution of the differential equation has two components:
 Transient response vt(t): time-varying component of the total
response that eventually dies out
 Steady-state response vss: final steady state value at t → ∞

v (t )  vt (t )  vss (t )

4
 STEP RESPONSE OF SERIES RLC CIRCUIT
 In order to determine the transient part of solution, we let
v  Ae st
where, A and s are constants to be determined
 Substituting these values and carrying out the necessary
differentiations we obtain,
AR st A st st  2 R 1 
As e 
2 st
se  e  0 Or, Ae  s  s  0
L LC  L LC 
 The two roots are,
2 2
R  R  1 R  R  1
s1       , s2      
2L  2 L  LC 2L  2 L  LC
5
 STEP RESPONSE OF SERIES RLC CIRCUIT
 A more compact way of expressing the roots is,
s1     2  02 , s2     2  02

R 1
where,  , 0 
2L LC

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
 In terms of α and ω0, the response can be written as,
s  2 s    0
2 2
0
6
 TRANSIENT RESPONSE: OVERDAMPED RESPONSE OF
SERIES RLC CIRCUIT

 Overdamped response: v (t )  A1e  A2e

s1t s2t

α > ω0 => C > 4L∕R2

 With this condition, both roots
s1 and s2 are negative and real

7
 TRANSIENT RESPONSE: CRITICALLY DAMPED
RESPONSE OF SERIES RLC CIRCUIT
 Critically damped response:
 t
α = ω0 => C = 4L∕R2 v  ( A1t  A2 )e
 Roots are equal (and negative real)
R
s1  s2    
2L
 Thus, the response for critically
damped case is the solution to
d 2v dv
2
 2   2
v0
dt dt
8
TRANSIENT RESPONSE: UNDER DAMPED RESPONSE OF
SERIES RLC CIRCUIT
 Underdamped response:
α < ω0 => C < 4L∕R2, v (t )  e  t ( B1 cos d t  B2 sin d t )
 Roots are complex conjugates
s1    02   2    jd

s2    02   2    jd

ωd is called the damped frequency and

ω0 is the undamped natural frequency
9
 TOTAL RESPONSE OF SERIES RLC CIRCUIT
 Steady state response: is the final value of v(t)
vss (t )  v ( )  Vs
The final value of the capacitor voltage is the same as the source
voltage Vs (capacitor becomes open circuit in steady state)
 Thus, the complete solution is,
v (t )  Vs  A1e s1t  A2e s2t (Overdamped)
v (t )  Vs  ( A1  A2t )e  t (Critically damped)
v (t )  Vs  ( A1 cos d t  A2 sin d t )e  t (Underdamped)
The values of the constants A1 and A2 are obtained from the
initial conditions: v(0) and dv(0)∕dt.
10
Numerical 1:
For the circuit shown, find v(t) and i(t) for t > 0.
Assume that the switch was closed for a long time before opening.
Consider three cases: (a) R = 5 Ω, (b) R = 4 Ω, and (c) R = 1 Ω.

11
 5Ω

Solution:
(a): R = 5 Ω
For t < 0, the capacitor behaves like an open circuit while the inductor
acts like a short circuit. The initial current through the inductor is,
24
i (0)   4A
5 1
and the initial voltage across the capacitor is the same as the voltage
across the 1Ω resistor, v (0)  1i (0)  4V
12
For t > 0, the switch is opened, so that 1Ω resistor disconnected.
The characteristic roots are determined as follows:
R 5 1 1
   2.5, 0   2
2L 2 1 LC 1  0.25 5Ω

s1,2     2  02  1, 4

Since α > ω0, we have the overdamped natural response.

The total response is therefore v (t )  vss  ( A1e  t  A2e 4 t )
vss is the final value of the capacitor voltage = 24 V.
=> v (t )  24  ( A1e  t  A2e 4 t )
13
 5Ω
Determine A1 and A2 via initial conditions:
v (0)  4  24  A1  A2 => 20  A1  A2

The current through the inductor cannot

change abruptly and is the same current
through the capacitor at t = 0+ because
the inductor and capacitor are now in
series. Hence,
dV (0) dV (0) 4 4 4
i (0)  C  4,    16 v (t )  24  ( 16e  t  e 4 t )
dt dt C 0.25 3
dV (0) dV
 16   A1  4 A2 => A1 = −64/3, A2 = 4/3 i (t )  C
dt dt
4  t 4 t
i (t )  (4e  e )
3 14
 CASE 2: R = 4 Ω
24
The initial current through the inductor is i (0)   4.8 A
4 1
and the initial voltage across the
capacitor is v (0)  1i (0)  4.8V 4Ω

For the characteristic roots,

Since the inductor and capacitor are in series for t > 0, t
R 4
  2 ω0 = 2
2L 2 1

s1 = s2 = −α = −2 => critically damped response

2 t 2 t
v (t )  vss  ( A1  A2t )e  v (t )  24  ( A1  A2t )e
15
 To find A1 and A2, we use the initial conditions
v (0)  4.8  24  A1  A1  19.2 4Ω
Since i(0) = C dv(0)∕dt = 4.8,
dV (0) 4.8
  19.2
dt C
dV
 ( 2 A1  2tA2  A2 )e 2 t
Since
dt the inductor and capacitor are in seri
dV (0)
 19.2  2 A1  A2 => A2 = 19.2 Thus, v (t )  24  19.2(1  t )e 2 t
dt
The inductor current is the same as the capacitor current i(t) = Cdv(t)∕dt
Multiplying by C = 0.25 and substituting the values of A1 and A2 into dv∕dt
i (t )  (4.8  9.6t )e 2 t
16
 CASE 3: R = 1 Ω
24
The initial inductor current is i (0)   12 A
11
and the initial voltage across the capacitor is
the same as the voltage across the 1Ω resistor, 1Ω
v (0)  1i (0)  12V
Since the inductor and cap
R 1
   0.5
2L 2 1
Since α = 0.5 < ω0 = 2, we have the under-damped response
s1,2     2  02  0.5  j1.936 The total response is therefore,
v (t )  24  ( A1 cos1.936t  A2 sin1.936)e 0.5t
17
 1Ω
In order to determine A1 and A2,
v (0)  12  24  A1  A1  12
Since, i(0) = C dv(0)∕dt = 12,
dV (0) 12
  48
dt C
dv 0.5t
Since the ( 1.936 A1 sin1.936
e inductor t  1.936are
and capacitor in series
A2 cos1.936 0.5et>
t ) for 0.5t
0,
( A1the t  A2 sin1.936t )
inductor
cos1.936
dt
current is the same as. Hence,
dv (0)
 48  ( 0  1.936 A2 )  0.5( A1  0) Substituting A1 = −12 gives A2 = 21.694
dt
v (t )  24  (21.694sin1.936t  12cos1.936t )e 0.5t
Multiplying by C = 0.25 and substituting the values of A1and A2 into dv∕dt
i (t )  (3.1sin1.936t  12 cos1.936t )e 0.5t
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 (R = 1 Ω)

(R = 4 Ω)

Since the inductor and capacitor are in series for t > 0, the inductor
current is the same as. Hence,
Critically damped circuit
(R = 5 Ω) gives fastest response
without any over-shooting

19
 STEP RESPONSE OF PARALLEL RLC CIRCUIT
 With the sudden application of a DC current, we need to determine i
in the following circuit.

20
 STEP RESPONSE OF PARALLEL RLC CIRCUIT
 Applying KCL at the top node for t > 0,
V dV di
iC  Is Here, v  L
R dt dt

 Substituting for v and dividing by LC, we get

d 2i 1 di i Is
2
  
dt RC dt LC LC

 The complete solution consists of the transient response it(t) and the
steady-state response iss,
i (t )  it (t )  iss
21
 TRANSIENT RESPONSE OF PARALLEL RLC CIRCUIT
 We obtain the characteristic equation by replacing the first derivative
by s and the second derivative by s2,
1 1
s 
2
s 0
RC LC

 The roots of the characteristic equation are

s1,2     2   2
1 1
where,  , 0 
2RC LC

 There are three possible solutions, depending on whether

α > ω0, α = ω0, or α < ω0
22
 TOTAL RESPONSE OF PARALLEL RLC CIRCUIT
 The final steady-state value of the current through the inductor is the
same as the source current Is

 The total response can be given as,

i (t )  I s  A1e s1t  A2e s2t (Overdamped i.e. α > ω0)

i (t )  I s  ( A1  A2t )e  t (Critically damped i.e. α = ω0)

i (t )  I s  ( A1 cos d t  A2 sin d t )e  t (Underdamped i.e. α < ω0)
The constants A1 and A2 in each case can be determined from the
initial conditions i(0) and di(0)∕dt
23
Numerical 2: In the circuit shown, find i(t) and iR(t) for t > 0.
Assume the switch is open for a long time before closing.

24
Solution:
For t < 0, the switch is open, and the circuit is partitioned into two
independent sub-circuits. The 4-A current flows through the inductor
i.e. i (0)  4 A

Since 30u(− t) = 30 when t < 0 and = 0 when t > 0, the voltage source
is operative for t < 0. By voltage division, the initial capacitor voltage is
20
v (0)  (30)  15V
20  20
25
For t > 0, equivalent parallel
resistance R = 20||20 = 10 Ω
1 1
  3
 6.25
2 RC 2  10  8  10
1 1
o  
3
 2.5
LC 20  8  10
Since α > ω0, we have the over-damped case
The characteristic roots are: s1,2     2  02  6.25  39.0625  6.25  6.25  5.7282
 s1  11.978, s2  0.5218

 i (t )  I s  A1e 11.978t  A2e 0.5218t where Is = 4 is the final value of i(t).

We now use the initial conditions to determine A1 and A2.

At t = 0, i (0)  4  4  A1  A2  A2   A1
26
Taking the derivative of i(t),
di
 11.978 A1e 11.978t  0.5218 A2e 0.5218t
dt
so that at t = 0,
di (0)
 11.978 A1  0.5218 A2 ,
dt
di (0) di (0) 15 15 Substituting A1 = A2 we get,
L  v (0)  15,    0.75
dt dt L 20 0.75  (11.978  0.5218) A2  A2  0.0655

Thus the complete solution is i (t )  4  0.0655( e 0.5218t  e 11.978t ) A

From i(t) we obtain v(t) = L di∕dt,
v (t ) L di
iR ( t )    0.785e 11.978t  0.0342e 0.5218t A
20 20 dt
27
MISCELLANEOUS EXAMPLES

28
Numerical 3: Find the complete response v(t) and i(t) for t > 0.
Assume that the switch is open for a long time before closing.

29
Solution: We first find the initial and final values,
At t = 0−, as shown the circuit is at steady
 
state. v (0 )  12V , i (0 )  0
t<0

At t = 0+, the switch is closed. By the

continuity of capacitor voltage and
inductor current,
v (0 )  v (0 )  12V , i (0  )  i (0  )  0
In order to determine dv(0+)∕dt, we use t>0
dv∕dt = iC ∕ C. Applying KCL at node a,


v (0 ) 12 dv (0 ) 6
 
i (0 )  ic (0 )   
=> 0  ic (0 )   ic (0 )  6 A, =>   12V / s
2 2 dt 0.5
30
The final values are obtained when the
inductor is replaced by a short circuit
and the capacitor by an open circuit
12
i ()   2 A, v ( )  2i ( )  4V
42

To get the transient response, we need to find the 2nd-order differential

equation & corresponding characteristic equation
v 1 dV
Applying KCL at node a gives, i   ,
2 2 dt dv 1 dv 1 d 2v
2v  2   2
v 0
di dt 2 dt 2 dt
Applying KVL in outer loop, 4i  1  v  0
dt d 2v dv
2
 5  6v  0
dt dt
31
 The characteristic equation is obtained as,
s  5s  6  0
2

with roots s = −2 and s = −3.

Thus, the natural response is
vn (t )  Ae 2 t  Be 3t
2 t 3 t
The complete response is v ( t )  vt  v ss  4  Ae  Be
Use the initial values to determine A & B: v(0) = 12  4  A  B  A  B  8
dv(0)/dt = –12 = –2A – 3B
Thus we obtain A = 12, B = −4
2 t 3 t v 1 dv
=> v (t )  4  12e  4e V => i    2  6e 2 t  2e 3t  12e 2 t  6e 3t
2 2 dt
 2  6 e 2 t  4 e 3 t 32
Numerical 4: Find vo(t) for t > 0 in the circuit shown

33
Solution:
For t < 0, 7u(t) = 0, so that i1(0−) = 0 = i2(0−). For t > 0, 7u(t) = 7, so that
the equivalent circuit is as shown,
Due to the continuity of
inductor current,
i1 (0 )  i1 (0 )  0, i2 (0 )  i2 (0 )  0

   
vL2 (0 )  v0 (0 )  1[i1 (0 )  i2 (0 )]  0
di1 (0 ) vL1 7 t>0
Since L1 di1∕dt = vL1,    14 A / s
dt L1 1
2
di2 (0 ) vL 2
Since L2 di2∕dt = vL2,  0
dt L2
34
As t → ∞, the circuit reaches steady state, and the inductors can be
replaced by short circuits as shown,
7
i1 ()  i2 ()  A
3
For transient response:
Apply KVL in the two meshes
1 di1 1 di2
4i1  i2   0, i2   i1  0
2 dt 5 dt
2
1 di1 1 di1 4 di1 1 d i1
i2  4i1   4i1    2
 i1  0
2 dt 2 dt 5 dt 10 dt
2
d i1 di1
2
 13  30i1  0
dt dt
35
The characteristic equation is determined as,
s 2  13s  30  0
with roots s = −3 and s = −10
Hence, the transient response is,
i1n  Ae 3t  Be 10 t
7
The steady-state response is, i1ss  i1 ( )  A
3
7
From initial conditions i1(0) and di1(0)/dt : 0   A  B,14  3 A  10 B
3
 A = −4 ∕ 3 and B = −1
7 4 3 t 10 t
Thus, i1 (t )   e  e
3 3 36
Applying KVL in left loop,
1 di1
7  4i1  i2 
2 dt
1 di1
 i2  7  4i1 
2 dt

Substituting for i1 gives,

28 16 3t 7 10 3t
i2 (t )  7   e  4e 10 t 3 t
 2e  5e 10 t
  e  e 10 t
3 3 3 3

v0 (t )  1[i1 (t )  i2 (t )], => v0 (t )  2[e 3 t

e 10 t
]
37
UNSOLVED PROBLEMS

38
Problem 1: The step response of an RLC circuit is given by
2
d i di
2
 2  5i  10
dt dt
Given that i(0) = 2 and di(0)∕dt = 4, solve for i(t).
Ans.1: i(t) = 2 + sin4te-t A

Problem 2: A branch voltage in an RLC circuit is described by

d 2v dv
2
4  8v  24
dt dt
If the initial conditions are v(0) = 0 = dv(0)∕dt, find v(t).
Ans.2: v(t) = [3 – 3(cos2t + sin2t)e-2t] volts

39
Problem 3: The step responses of a series RLC circuit are
vc  40  10e 2000t  10e 4000tV , iL (t )  3e 2000t  6e 4000t mA
(a) Find C. (b) Determine what type of damping is exhibited by the
circuit. Ans.3: C=150 nF, overdamped case

Problem 4: For the following circuit, find v(t) for t > 0.

Ans.4: v(t) = {50 + [(-62cos4t – 46.5sin4t)e-3t]} V

40
Problem 5: Calculate i(t) for t > 0 in the circuit.

Ans.5: i(t) = -10sin8t A

Problem 6: Obtain v(t) and i(t) for t > 0 in the circuit.

Ans.6: v(t) = {35 – [(15cos0.6t +

20sin0.6t)e-0.8t]} V
i(t) = [(5sin0.6t)e-0.8t] A 41
Problem 7: In the circuit, find v(t) and i(t) for t > 0.

Ans.7: i(t) = 4 – [(3cos1.3229t +

1.1339sin1.3229t)e-0.5t] A
Problem 8: Find the output voltage vo(t) in the circuit.

Ans.8: vo(t) = (200te-10t) V

Problem 9: Given the circuit, find i(t) and v(t) for t > 0.

Ans.9: i(t) = (-2 - 2t)e-2t A

and v(t) = (2 + 4t)e-2t V
Problem 10: Determine i(t) for t > 0 in the circuit.

Ans.10: i(t) = 3 + [(3 +

6t)e-2t] A
43
Problem 11: For the circuit, find i(t) for t > 0.

Ans. 11: i(t) = 9 + [2e-10t] + [-8e-2.5t] A

Problem 12: The step response of a parallel RLC circuit is v = 10 +
20e−300t(cos 400t − 2 sin 400t) V, t ≥ 0 when the inductor is 50 mH. Find
R and C.

Ans. 12: R= 5.833Ω,C= 285.71 µF

44
 REFERENCES
[1] Edward Hughes; John Hiley, Keith Brown, Ian McKenzie Smith,
“Electrical and Electronic Technology”,10th Ed., Pearson Education
Limited, 2008.

[2] Alexander, Charles K., and Sadiku, Matthew N. O., “Fundamentals of

Electric Circuits”, 5th Ed, McGraw Hill, Indian Edition, 2013.

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