Second-Order Circuits (Part 2)

Pradita O. Hadi
School of Electrical Engineering and Informatics
Institute of Technology Bandung

Second-Order Circuit 1
 Learning Objectives
• Able to analyse a circuit containing two storage elements.
• Able to solve source-free second-order circuits.
• Able to solve second-order circuits with independent dc source.
• Able to solve second-order differential equation.

Second-Order Circuit 2
Step Response of a Series RLC Circuit

Second-Order Circuit 3
Step Response of a Series RLC Circuit
KVL untuk 𝒕 > 𝟎:

𝑑𝑖
𝑅𝑖 + 𝐿 + 𝑣 = 𝑉𝑠 1
𝑑𝑡
𝑑𝑣
𝑖=𝐶 2
𝑑𝑡
Substitusi (2) ke (1)

𝑑𝑣 𝑑2 𝑣
𝑅𝐶 + 𝐿𝐶 2 + 𝑣 = 𝑉𝑠
𝑑𝑡 𝑑𝑡

𝑑 2 𝑣 𝑅 𝑑𝑣 𝑣 𝑉𝑠
⟺ + + = 3
𝑑𝑡 2 𝐿 𝑑𝑡 𝐿𝐶 𝐿𝐶
Second-Order Circuit 4
Step Response of a Series RLC Circuit
With step response Source Free Remember!

𝑑 2 𝑣 𝑅 𝑑𝑣 𝑣 𝑉𝑠 𝑑 2 𝑖 𝑅 𝑑𝑖 𝑖
+ + = + + =0
𝑑𝑡 2 𝐿 𝑑𝑡 𝐿𝐶 𝐿𝐶 𝑑𝑡 2 𝐿 𝑑𝑡 𝐿𝐶

Coefficient is same, but variable is different.

Characteristic equation of series RLC circuit

is not affected by the DC source.
Second-Order Circuit 5
 Characteristic Equation
Characteristic equation:
𝑅 1
2
𝑠 + 𝑠+ = 0 ⇔ 𝑠 2 + 2𝛼𝑠 + 𝜔02 = 0
𝐿 𝐿𝐶

The roots:
2
𝑅 𝑅 1
𝑠1,2 =− ± − ⟺ 𝑠1,2 = −𝛼 ± 𝛼 2 − 𝜔02
2𝐿 2𝐿 𝐿𝐶
𝑑 2 𝑣 𝑅 𝑑𝑣 𝑣 𝑉𝑠
+ + =
𝑑𝑡 2 𝐿 𝑑𝑡 𝐿𝐶 𝐿𝐶 where:
𝑅 1 𝑠1 , 𝑠2 : natural frequency [Np/s, neper per second]
𝛼= , 𝜔0 = 𝜔0 : resonant frequency or undamped natural frequency
2𝐿 𝐿𝐶 [rad/s, radian per second]
𝛼 𝛼 : neper frequency or damping factor
𝜁= [Np/s, neper per second]
𝜔0 𝜁 : damping ratio

Second-Order Circuit 6
 The Complete Solutions
The solution has two components:
1. Transient response, 𝑣𝑡 𝑡
2. Steady-state response, 𝑣𝑠𝑠 𝑡

𝑣 𝑡 = 𝑣𝑡 𝑡 + 𝑣𝑠𝑠 𝑡

Transient response:
• Dies out with time
• The form is the same as the form of the solution for the source-free circuit
𝑣𝑡 𝑡 = 𝐴1 𝑒 𝑠1 𝑡 + 𝐴2 𝑒 𝑠2 𝑡 (Overdamped)
𝑣𝑡 𝑡 = 𝐴2 + 𝐴1 𝑡 𝑒 −𝛼𝑡 (Critically damped)
𝑑 2 𝑣 𝑅 𝑑𝑣 𝑣 𝑉𝑠 𝑣𝑡 𝑡 = 𝑒 −𝛼𝑡 𝐴1 cos 𝜔𝑑 𝑡 + 𝐴2 sin 𝜔𝑑 𝑡 (Underdamped)
+ + =
𝑑𝑡 2 𝐿 𝑑𝑡 𝐿𝐶 𝐿𝐶
Steady-state response:
• Final value of 𝑣 𝑡
𝑣𝑠𝑠 𝑡 = 𝑣 ∞ = 𝑉𝑠

Second-Order Circuit 7
 The Complete Solutions
The complete solutions:

𝑣 𝑡 = 𝑉𝑠 + 𝐴1 𝑒 𝑠1 𝑡 + 𝐴2 𝑒 𝑠2 𝑡 (Overdamped)
𝑣 𝑡 = 𝑉𝑠 + 𝐴2 + 𝐴1 𝑡 𝑒 −𝛼𝑡 (Critically damped)
𝑣 𝑡 = 𝑉𝑠 + 𝑒 −𝛼𝑡 𝐴1 cos 𝜔𝑑 𝑡 + 𝐴2 sin 𝜔𝑑 𝑡 (Underdamped)

The constants 𝐴1 and 𝐴2 are obtained from initial value of 𝑣 0 and 𝑑𝑣 0 Τ𝑑𝑡

Find value 𝑖:
𝑑𝑣
𝑖=𝐶
𝑑 2 𝑣 𝑅 𝑑𝑣 𝑣 𝑉𝑠 𝑑𝑡
+ + = Resistor voltage:
𝑑𝑡 2 𝐿 𝑑𝑡 𝐿𝐶 𝐿𝐶 𝑣𝑅 = 𝑖𝑅

Inductor voltage:
𝑑𝑖
𝑣𝐿 = 𝐿
𝑑𝑡

Second-Order Circuit 8
 Example
For the circuit shown below, find 𝑣(𝑡) dan 𝑖(𝑡) untuk 𝑡 > 0, for these three cases:
𝑅 = 5Ω, 𝑅 = 4Ω, 𝑅 = 1Ω.

Second-Order Circuit 9
Example (For case 𝑅 = 5Ω)
When 𝑡 < 0:
• Switch is close for a long time
• Capacitor  open circuit
• Inductor  short circuit
When 𝑡 > 0:
• Switch is opened
• Resistor 1Ω is disconnected
from the circuit  Series RLC

Initial current through the inductor: The roots of characteristic equation:

24 𝑅 5
𝑖 0 = = 4𝐴 𝛼= = = 2,5
5+1 2𝐿 2 × 1
1 1
𝜔0 = = =2
Initial voltage at capacitor 𝐿𝐶 1 × 0.25
𝑣 0 = 1𝑖 0 = 4𝑉
𝑠1,2 = −𝛼 ± 𝛼 2 − 𝜔02 = −1, −4

Because 𝛼 > 𝜔0  natural overdamped

Total/Complete Response:
𝑣 𝑡 = 𝑣𝑠𝑠 + 𝐴1 𝑒 −𝑡 + 𝐴2 𝑒 −4𝑡
Second-Order Circuit 10
 Example (For case 𝑅 = 5Ω)
Find 𝐴1 and 𝐴2 :
𝑣 0 = 24 + 𝐴1 + 𝐴2 = 4 ⟺ 𝐴1 + 𝐴2 = −20 ⋯ 1

𝑑𝑣 0 𝑑𝑣 0 4 4
𝑖 0 =𝐶 =4⟹ = = = 16
𝑑𝑡 𝑑𝑡 𝐶 0.25
𝑑𝑣
Because 𝛼 > 𝜔0  natural overdamped = −𝐴1 𝑒 −𝑡 − 4𝐴2 𝑒 −4𝑡
𝑑𝑡
Total Response: 𝑣 𝑡 = 𝑣𝑠𝑠 + 𝐴1 𝑒 −𝑡 + 𝐴2 𝑒 −4𝑡 When t=0,
𝑣𝑠𝑠 is steady state response 𝑑𝑣 0
= −𝐴1 − 4𝐴2 = 16 ⋯ 2
𝑣𝑠𝑠 = 24V 𝑑𝑡
From (1) and (2), 𝐴1 and 𝐴2 are obtained:
Thus: 𝑣 𝑡 = 24 + 𝐴1 𝑒 −𝑡 + 𝐴2 𝑒 −4𝑡
64 4
𝐴1 = − , 𝐴2 =
3 3
Second-Order Circuit 11
Example (For case 𝑅 = 5Ω)
𝑣 𝑡 = 24 + 𝐴1 𝑒 −𝑡 + 𝐴2 𝑒 −4𝑡

64 4
𝐴1 = − , 𝐴2 =
3 3
Thus, voltage 𝑣:

𝟒
𝒗 𝒕 = 𝟐𝟒 + −𝟏𝟔𝒆−𝒕 + 𝒆−𝟒𝒕 𝑽
𝟑
And current 𝑖:

𝑑𝑣 4
𝑖 𝑡 =𝐶 = 0,25 16𝑒 −𝑡 − 4𝑒 −4𝑡
𝑑𝑡 3
𝟒
⟺𝒊 𝒕 = 𝟒𝒆−𝒕 − 𝒆−𝟒𝒕 𝑨
𝟑

Second-Order Circuit 12
Try by yourself for case 𝑅 = 4Ω, 𝑅 = 1Ω!

Second-Order Circuit 13
Step Response of a Parallel RLC Circuit

Second-Order Circuit 14
Step Response of a Parallel RLC Circuit
KCL at the top node for 𝒕 > 𝟎:

𝑣 𝑑𝑣
+𝑖+𝐶 = 𝐼𝑠 1
𝑅 𝑑𝑡
𝑑𝑖
𝑣=𝐿 2
𝑑𝑡
Substitute (2) to (1)

𝐿 𝑑𝑖 𝑑2 𝑖
+ 𝑖 + 𝐿𝐶 2 = 𝐼𝑠
𝑅 𝑑𝑡 𝑑𝑡

𝑑2 𝑖 1 𝑑𝑖 𝑖 𝐼𝑠
⟺ + + = 3
𝑑𝑡 2 𝑅𝐶 𝑑𝑡 𝐿𝐶 𝐿𝐶
Second-Order Circuit 15
 Step Response of a Parallel RLC Circuit
The solution has two components:
1. Transient response, 𝑖𝑡 𝑡
2. Steady-state response, 𝑖𝑠𝑠 𝑡

𝑖 𝑡 = 𝑖𝑡 𝑡 + 𝑖𝑠𝑠 𝑡

Transient Response:
• Dies out with time
• The form is the same as the form of the solution for the source-free circuit,
𝑖𝑡 𝑡 = 𝐴1 𝑒 𝑠1 𝑡 + 𝐴2 𝑒 𝑠2 𝑡 (Overdamped)
𝑖𝑡 𝑡 = 𝐴2 + 𝐴1 𝑡 𝑒 −𝛼𝑡 (Critically damped)
𝑑2 𝑖 1 𝑑𝑖 𝑖 𝐼𝑠 𝑖𝑡 𝑡 = 𝑒 −𝛼𝑡 𝐴1 cos 𝜔𝑑 𝑡 + 𝐴2 sin 𝜔𝑑 𝑡 (Underdamped)
+ + =
𝑑𝑡 2 𝑅𝐶 𝑑𝑡 𝐿𝐶 𝐿𝐶
Steady-state Response:
• The final value of 𝑖 𝑡
𝑖𝑠𝑠 𝑡 = 𝑖 ∞ = 𝐼𝑠

Second-Order Circuit 16
 Step Response of a Parallel RLC Circuit
The complete solutions:

𝑖 𝑡 = 𝐼𝑠 + 𝐴1 𝑒 𝑠1 𝑡 + 𝐴2 𝑒 𝑠2 𝑡 (Overdamped)
𝑖 𝑡 = 𝐼𝑠 + 𝐴2 + 𝐴1 𝑡 𝑒 −𝛼𝑡 (Critically damped)
𝑖 𝑡 = 𝐼𝑠 + 𝑒 −𝛼𝑡 𝐴1 cos 𝜔𝑑 𝑡 + 𝐴2 sin 𝜔𝑑 𝑡 (Underdamped)

The constants 𝐴1 and 𝐴2 are obtained from the initial value of 𝑖 0 and 𝑑𝑖 0 Τ𝑑𝑡

Find value 𝑣:
𝑑2 𝑖 1 𝑑𝑖 𝑖 𝐼𝑠 𝑣=𝐿
𝑑𝑖
+ + = 𝑑𝑡
𝑑𝑡 2 𝑅𝐶 𝑑𝑡 𝐿𝐶 𝐿𝐶 Resistor current:
𝑣
𝑖𝑅 =
𝑅

Capacitor current:
𝑑𝑣
𝑖𝐶 = 𝐶
𝑑𝑡
Second-Order Circuit 17
 Example

For the circuit below, find value 𝑖(𝑡) and 𝑖𝑅 (𝑡) for 𝑡 > 0.

Second-Order Circuit 18
 Example
When 𝑡 < 0:
• Switch is opened for a long time
• Capacitor  open circuit
• Inductor  short circuit
When 𝑡 > 0:
• Switch is closed
• Voltage source become zero
• Both resistors are parallel

Initial current through inductor: The roots of characteristic equation:

𝑖 0 = 4𝐴 1 1
𝛼= = = 6,25
2𝑅𝐶 2 × 10 × 8 × 10−3
Initial voltage at capacitor: 1 1
𝜔0 = = = 2,5
20 𝐿𝐶 20 × 8 × 10 −3
𝑣 0 = 30 = 15𝑉
20 + 20
𝑠1,2 = −𝛼 ± 𝛼 2 − 𝜔02
= −11,978, −0,5218

Because 𝛼 > 𝜔0  natural overdamped

Complete response:
𝑖 𝑡 = 𝑖𝑠𝑠 + 𝐴1 𝑒 −11,978𝑡 + 𝐴2 𝑒 −0,5218𝑡
Second-Order Circuit 19
 Example

Find value 𝐴1 and 𝐴2 :

𝑖 0 = 4 + 𝐴1 + 𝐴2 = 4 ⟺ −𝐴1 = 𝐴2 ⋯ 1

𝑑𝑖 0 𝑑𝑖 0 15 15
𝑣 0 =𝐿 = 15 ⟹ = = = 0,75
𝑑𝑡 𝑑𝑡 𝐿 20
𝑑𝑖
Because 𝛼 > 𝜔0  respons natural overdamped = −11,978𝐴1 𝑒 −11,978𝑡 − 0,5218𝐴2 𝑒 −0,5218𝑡
𝑑𝑡
Complete response: 𝑖 𝑡 = 𝑖𝑥𝑠 + 𝐴1 𝑒 −11,978𝑡 + 𝐴2 𝑒 −0,5218𝑡
When t=0,
𝑖𝑠𝑠 is steady-state response 𝑑𝑖 0
= −11,978𝐴1 − 0,5218𝐴2 = 0,75 ⋯ 2
𝑖𝑠𝑠 = 4A 𝑑𝑡
From (1) and (2), 𝐴1 and 𝐴2 are obtained
So that: 𝑖 𝑡 = 4 + 𝐴1 𝑒 −11,978𝑡 + 𝐴2 𝑒 −0,5218𝑡
𝐴1 = −0,0655, 𝐴2 = 0,0655

Second-Order Circuit 20
 Example

𝑖 𝑡 = 4 + 𝐴1 𝑒 −11,978𝑡 + 𝐴2 𝑒 −0,5218𝑡
𝐴1 = −0,0655, 𝐴2 = 0,0655
Thus, current 𝑖:
𝒊 𝒕 = 𝟒 + 𝟎, 𝟎𝟔𝟓𝟓 𝒆−𝟎,𝟓𝟐𝟏𝟖𝒕 − 𝒆−𝟏𝟏,𝟗𝟕𝟖𝒕 𝑽
and resistor current 𝑖𝑅 :

𝑣 𝑡 𝐿 𝑑𝑖
𝑖𝑅 𝑡 = = ⇒ 𝒊𝑹 𝒕 = 𝟎, 𝟕𝟖𝟓𝒆−𝟏𝟏,𝟗𝟕𝟖𝒕 − 𝟎, 𝟎𝟑𝟒𝟐𝒆−𝟎,𝟓𝟐𝟏𝟖𝒕 𝑨
20 20 𝑑𝑡
Second-Order Circuit 21
General Second-Order Circuits

Second-Order Circuit 22
 General Second-Order Circuits
 To find step response 𝑥 𝑡 of second-order circuit, that can be current or voltage, follow these steps:

Calculate initial and final value: Turn off all Find 2nd order
① 𝑥 0 , 𝑑𝑥 0 Τ𝑑𝑡, serta 𝑥 ∞ independent equation using
Calculate the
characteristic roots
Find the form of
transient response
sources KCL/KVL

Hint! Hint!
• Use inductor current i and • Check characteristic response:
Calculate transient response:
② 𝑥𝑡 𝑡
capacitor voltage v as variables.
• Remove one variable by combining
• Overdamped
• Critically damped
equations. • Underdamped

Calculate steady-state response:

③ 𝑥𝑠𝑠 𝑡 = 𝑥 ∞

Calculate complete response: Hint!

④ 𝑥 𝑡 = 𝑥𝑡 𝑡 + 𝑥𝑠𝑠 𝑡 Use initial value from step ① to
calculate the constants value

Second-Order Circuit 23
 Example

• Find total response of 𝑣 and 𝑖 for 𝑡 > 0 from the circuit below.

Second-Order Circuit 24
 Example
• Step ①: Find initial and final value of variable.
For 𝑡 = 0− (Fig (a)):
𝑣 0− = 12𝑉, 𝑖 0− = 0𝐴
For 𝑡 = 0+ (Fig (b)):
𝒗 𝟎+ = 𝒗 𝟎− = 𝟏𝟐𝑽, 𝒊 𝟎+ = 𝒊 𝟎− = 𝟎𝑨
To find 𝑑𝑣 0+ Τ𝑑𝑡, use 𝑑𝑣Τ𝑑𝑡 = 𝑖𝐶 Τ𝐶.
By using KCL at node 𝑎:
+ +
𝑣 0+ +
12
𝑖 0 = 𝑖𝐶 0 + ⇒ 0 = 𝑖𝐶 0 + ⇒ 𝑖𝐶 0+ = −6𝐴
2 2
𝒅𝒗 𝟎+ −6
= = −𝟏𝟐𝑽/𝒔
𝒅𝒕 0.5
For 𝑡 = ∞ (Fig (b)):
12
𝒊 ∞ = = 𝟐𝑨, 𝒗 ∞ = 2𝑖 ∞ = 𝟒𝑽
4+2

Second-Order Circuit 25
 Example
• Step ②: Calculate transient response
Using KCL at node 𝑎:
𝑣 1 𝑑𝑣
𝑖= + 1
2 2 𝑑𝑡
Using KVL at the left loop:
𝑑𝑖
4𝑖 + 1 + 𝑣 = 0 2
𝑑𝑡
To find second order equation from 𝑣, substitute (1) to (2):
𝑑𝑣 1 𝑑𝑣 1 𝑑 2 𝑣
2𝑣 + 2 + + +𝑣 =0 Characteristic equation:
𝑑𝑡 2 𝑑𝑡 2 𝑑𝑡 2 𝑠 2 + 5𝑠 + 6 = 0
or Characteristic roots:
𝑑2𝑣 𝑑𝑣 𝑠1 = −2, 𝑠2 = −3
+5 + 6𝑣 = 0  overdamped
𝑑𝑡 2 𝑑𝑡
Transient response:
𝑣𝑡 𝑡 = 𝐴𝑒 −2𝑡 + 𝐵𝑒 −3𝑡

Second-Order Circuit 26
 Example

• Step ③: Calculate steady-state response

From final value:
𝑣𝑠𝑠 𝑡 = 4
• Step ④: Calculate total response:
𝑣 𝑡 = 𝑣𝑠𝑠 𝑡 + 𝑣𝑡 𝑡 = 4 + 𝐴𝑒 −2𝑡 + 𝐵𝑒 −3𝑡
Then:
Use the initial value, when 𝑡 = 0, 𝑣 0 = 12:
12 = 4 + 𝐴 + 𝐵 ⇒ 𝐴 + 𝐵 = 8 𝐴 = 12, 𝐵 = −4
Take differential from 𝑣: Thus:
𝑑𝑣
= −2𝐴𝑒 −2𝑡 − 3𝐵𝑒 −3𝑡 𝑣 𝑡 = 4 + 12𝑒 −2𝑡 − 4𝑒 −3𝑡 , 𝑡>0
𝑑𝑡
d𝑣 0 Calculate 𝑖:
Use the initial value, when 𝑡 = 0, 𝑑𝑡 = −12:
−12 = −2𝐴 − 3𝐵 ⇒ 2𝐴 + 3𝐵 = 12 𝑣 1 𝑑𝑣
𝑖= + = 2 + 6𝑒 −2𝑡 − 2𝑒 −3𝑡 − 12𝑒 −2𝑡 + 6𝑒 −3𝑡
2 2 𝑑𝑡
⇒ 𝑖 𝑡 = 2 − 6𝑒 −2𝑡 + 4𝑒 −3𝑡 , 𝑡>0
Second-Order Circuit 27
Second-Order Op Amp Circuits

Second-Order Circuit 28
 Second-Order Op Amp Circuits
• In practical Op amp circuits, inductor is rarely used because of its
bulky & heavy.
• In IC Design, inductor is never be used because it cannot be design
using conventional IC Design tools.
• The analysis of the 2nd order Op Amp circuits follow same 4 steps
given in previous section.

Second-Order Circuit 29
 Example
Find 𝑣0 𝑡 for 𝑡 > 0 if 𝑣𝑠 = 10𝑢 𝑡 𝑚𝑉.
Where 𝑅1 = 𝑅2 = 10𝑘Ω, 𝐶1 = 20𝜇𝐹, and 𝐶2 = 100𝜇𝐹.

Answer:
Use KCL at node 1, Substitute (3) to (1)
𝑣𝑠 − 𝑣1 𝑑𝑣2 𝑣1 − 𝑣𝑜
= 𝐶2 + (1) 𝑣𝑠 − 𝑣1 𝑑𝑣1 𝑑𝑣𝑜 𝑣1 − 𝑣𝑜
𝑅1 𝑑𝑡 𝑅2 = 𝐶2 − 𝐶2 +
𝑅1 𝑑𝑡 𝑑𝑡 𝑅2
Use KCL at node 2,
𝑣1 − 𝑣𝑜 𝑑𝑣𝑜 From (2),
= 𝐶1 (2)
𝑅2 𝑑𝑡 𝑑𝑣𝑜
Where: 𝑣1 = 𝑣𝑜 + 𝑅2 𝐶1
𝑑𝑡
𝑣2 = 𝑣1 − 𝑣𝑜 (3)
Thus:

Second-Order Circuit 30
 Example
Using value 𝑅1 = 𝑅2 = 10𝑘Ω, 𝐶1 = 20𝜇𝐹, and 𝐶2 =
100𝜇𝐹:

Characteristic equation:
𝑠 2 + 2𝑠 + 5 = 0 When 𝑡 = ∞:
Characteristic roots: 𝑣𝑜 ∞ = 𝑣1 ∞ = 𝑣𝑠
𝑠1,2 = −1 ± 𝑗2
Steady state response:
Transient response:
𝑣𝑜𝑠𝑠 = 𝑣𝑜 ∞ = 𝑣𝑠 = 10𝑚𝑉
Thus, the complete response:

Second-Order Circuit 31
 Example
Complete response:

Find value A and B:

When 𝑡 < 0, 𝑣𝑠 = 0, thus:
𝑣𝑜 0− = 𝑣2 0− = 0
and: Take derivative of 𝑣𝑜 𝑡 :
𝑣𝑜 0+ = 𝑣2 0+ = 0
So that,
𝑑𝑣𝑜 0+ 𝑣1 − 𝑣𝑜
= =0 When 𝑡 = 0,
𝑑𝑡 𝑅2 𝐶1
0 = −𝐴 + 2𝐵 ⟹ 𝐴 = −5
When 𝑡 = 0,
0 = 10 + 𝐴 ⟹ 𝐴 = −10 Thus, complete response:

Second-Order Circuit 32