S-Domain Analysis

s-Domain Circuit Analysis

Time domain Complex frequency
(t domain) domain (s domain)
Laplace Transform
Linear Transformed
Circuit L Circuit

Differential Laplace Transform Algebraic

equation L equation

Classical Algebraic
techniques techniques

Response Inverse Transform Response

waveform L-1 transform
 Kirchhoff’s Laws in s-Domain
t domain s domain
i2 (t )
Kirchhoff’s current law (KCL) i1 (t ) i3 (t )
i4 (t )

i1 (t ) + i2 (t ) − i3 (t ) + i4 (t ) = 0 I1 ( s ) + I 2 ( s ) − I 3 ( s ) + I 4 ( s ) = 0

+ v2 (t ) − + v4 (t ) −

+ + +
Kirchhoff’s voltage law (KVL) v1 (t ) v3 (t ) v5 (t )
− − −

− v1 (t ) + v2 (t ) + v3 (t ) = 0 − V1 ( s ) + V2 ( s ) + V3 ( s ) = 0
 Signal Sources in s Domain

t domain s domain
i (t ) I (s )
Voltage Source: + + Voltage Source:
v(t ) = vS (t ) V ( s ) = VS ( s )
+ +
v(t ) _ vS (t ) L V (s ) _ VS (s )
i (t ) = depends _ _ I ( s ) = depends
on circuit on circuit

i (t ) I (s )
Current Source: _ _ Current Source:
i (t ) = iS (t ) v(t ) iS (t ) L V (s ) I S (s) I ( s ) = VS ( s )
v(t ) = depends + + V ( s ) = depends
on circuit on circuit
 Time and s-Domain Element Models
Impedance and Voltage Source for Initial Conditions
Time Domain iR (t ) I R (s ) s-Domain
+ +
Resistor: Resistor:
vR (t ) R VR (s ) R
vR (t ) = RiR (t ) L VR ( s ) = RI R ( s )
_ _

iL (t ) I L (s )
Inductor: Inductor:
diL (t ) + +
vL (t ) = L Ls VL ( s ) = LsI L ( s ) −
dt vL (t ) L L VL (s ) _
LiL (0)
_ _ + LiL (0)

iC (t ) I C (s )
Capacitor: Capacitor:
1 t + + 1
vC (t ) = ∫ iC (τ )dτ 1 Cs VC ( s ) = I C ( s) +
C 0 vC (t ) C L VC (s ) + vC (0) Cs
+ vC (0) _ _ _
s vC( 0 )
s
Impedance and Voltage Source for Initial
Conditions
• Impedance Z(s)
voltage transform
Z ( s) =
current transform

with all initial conditions set to zero

• Impedance of the three passive elements
VR ( s )
Z R ( s) = =R
I R (s)
VL ( s )
Z L ( s) = = Ls with iL (0) = 0
I L (s)
VC ( s ) 1
Z C (s) = = with vC ( 0 ) = 0
I C ( s ) Cs
 Time and s-Domain Element Models
Admittance and Current Source for Initial Conditions
Time Domain iR (t ) I R (s ) s-Domain
+ +
Resistor: Resistor:
1 vR (t ) R L VR (s ) R 1
iR (t ) = vR (t ) _ _
I R (s) = VR ( s )
R R
iL (t ) I L (s )
Inductor: Inductor:
1 t + + 1
iL (t ) = ∫ vL (τ ) dτ I L (s) = VL ( s ) +
L 0 vL (t ) L L VL (s ) Ls
+ iL (0) _ _ Ls i L ( 0) i L( 0 )
s
iC (t ) I C (s ) s
Capacitor: Capacitor:
dvC (t ) + +
iC (t ) = C vC (t ) VC (s ) I C ( s ) = CsVC ( s ) −
dt C L
_ _ 1 Cs CvC (0) CvC (0)
Admittance and Current Source for Initial
Conditions
• Admittance Y(s)
current transform 1
Y ( s) = =
voltage transform Z ( s)

with all initial conditions set to zero

• Admittance of the three passive elements
I R ( s) 1
YR ( s ) = =
VR ( s ) R
I L ( s) 1
YL ( s ) = = with iL (0) = 0
VL ( s ) Ls
I C ( s)
YC ( s ) = = Cs with vC( 0 ) = 0
VC ( s )
Example: Solve for Current Waveform i(t)
R R
+
+ VR (s ) − Ls
+ VA +
V Au (t ) _ L L _ _ VL (s )
i (t ) s I (s ) LiL (0) _
+

VA
By KVL: − + VR ( s ) + VL ( s ) = 0
s
Resistor: VR ( s ) = RI ( s ) Inductor: VL ( s ) = LsI ( s ) − LiL (0)
V
− A + RI ( s) + LsI ( s) − LiL (0) = 0
s
VA L iL (0)
I (s) = +
s ( s + R L) s + R L
VA R VA R i L ( 0)
= − +
s s+R L s+R L
V A V A − RL t − t
R
Inverse Transform: i (t ) =  − e + iL (0)e L u (t )
R R 
forced response natural response
 Series Equivalence and Voltage Division
I1 ( s )
+ V1 ( s ) − V1 ( s ) = Z1 ( s ) I1 ( s ) = Z1 ( s ) I ( s )
I (s )
+ Z1 V2 ( s ) = Z 2 ( s ) I 2 ( s ) = Z 2 ( s ) I ( s )
Rest +
of V (s) Z2 V2 ( s) I 2 ( s )
Circuit − − KVL: V ( s ) = V1 ( s ) + V2 ( s )
= ( Z1 ( s ) + Z 2 ( s )) I ( s )
Z EQ ( s ) = Z1 ( s ) + Z 2 ( s )
I (s )

Rest +
Z1 ( s )
V (s) Z V1 ( s) = V (s)
of EQ Z EQ ( s )
Circuit − Z EQ = Z1 + Z 2 Z 2 (s)
V2 ( s ) = V (s)
Z EQ ( s)
 Parallel Equivalence and Current Division

I (s ) I1 ( s ) = Y1 ( s )V ( s )
+ I 2 ( s ) = Y2 ( s )V ( s )
Rest I1 ( s ) I 2 (s)
of V (s) Y Y2
1
Circuit −
KCL: I ( s ) = I1 ( s ) + I 2 ( s )
= (Y1 ( s ) + Y2 ( s ))V ( s )
YEQ ( s ) = Y1 ( s ) + Y2 ( s )
I (s )

Rest +
Y1 ( s )
V (s) Y I1 ( s ) = I ( s)
of EQ YEQ ( s )
Circuit − YEQ = Y1 + Y2 Y2 ( s)
I 2 (s) = I (s)
YEQ ( s )
 Example:
Equivalence Impedance and Admittance
A L
Inductor current = 0
at t = 0
+ capacitor voltage = 0
+
_ v1 (t ) R C v2 (t ) Find equivalent impedance at A and B
_ Solve for v2(t)
B 1 1 RCs + 1
YEQ1 ( s ) = = + Cs =
Z EQ1 ( s ) R R
L R
Z EQ ( s ) = Ls + Z EQ1 ( s) = Ls +
Ls RCs + 1
A
RLCs 2 + Ls + R
+ =
+
Z EQ ZR 1 RCs + 1
_ V1 ( s ) EQ1 V2 ( s )
Cs Z EQ1 ( s )
_ V2 ( s ) = V1 ( s )
Z EQ Z EQ1 Z EQ
B
R
= V1 ( s)
RCLs + Ls + R
2
General Techniques for s-Domain Circuit
Analysis
• Node Voltage Analysis (in s-domain)
– Use Kirchhoff’s Current Law (KCL)
– Get equations of node voltages
– Use current sources for initial conditions
– Voltage source current source

• Mesh Current Analysis (in s-domain)

– Use Kirchhoff’s Voltage Law (KVL)
– Get equations of currents in the mesh
– Use voltage sources for initial conditions
– Current source voltage source
(Works only for “Planar” circuits)
 Formulating Node-Voltage Equations
Step 0: Transform the circuit into the s domain using current
sources to represent capacitor and inductor initial conditions
Step 1: Select a reference node. Identify a node voltage at each
of the non-reference nodes and a current with every element
in the circuit
Step 2: Write KCL connection constraints in terms of the
element currents at the non-reference nodes
Step 3: Use the element admittances and the fundamental
property of node voltages to express the element currents in
terms of the node voltages
Step 4: Substitute the device constraints from Step 3 into the
KCL connection constraints from Step 2 and arrange the
resulting equations in a standard form
 Example: Formulating Node-Voltage Equations
L
Step 0: Transform the circuit into the s domain using
current sources to represent capacitor and
inductor initial conditions
R C
iS (t ) Step 1: Identify N-1=2 node voltages and a current
with each element
t domain
Step 2: Apply KCL at nodes A and B:
iL (0)
L Node A : I S ( s ) − − I1 ( s ) − I 2 ( s ) = 0
s
iL (0) i (0)
Node B : CvC (0) + L + I1 ( s ) − I 3 ( s ) = 0
s s
VA (s ) Ls VB (s )
Step 3: Express element equations in terms of node
voltages
I1 ( s ) = YL ( s )[VA ( s ) − VB ( s )] = [VA ( s ) − VB ( s )]
I 2 ( s) I1 ( s ) I 3 ( s ) 1
R 1 Ls
I S (s) Cs CvC (0) I 2 ( s ) = YR ( s)VA ( s ) = GVA ( s) where G = 1 R
I 3 ( s ) = YC ( s )VB ( s) = CsVB ( s )
Reference s domain
node
Formulating Node-Voltage Equations (Cont’d)
Step 2: Apply KCL at nodes A and B:
iL (0)
Node A : I S ( s ) − − I1 ( s ) − I 2 ( s ) = 0
s
i (0)
Node B : CvC (0) + L + I1 ( s ) − I 3 ( s ) = 0
s
Step 3: Express element equations in terms of node voltages
I1 ( s ) = YL ( s)[VA ( s) − VB ( s)] = [VA ( s ) − VB ( s )]
1
Ls
I 2 ( s ) = YR ( s )VA ( s) = GVA ( s ) where G = 1 R
I 3 ( s ) = YC ( s )VB ( s ) = CsVB ( s)
Step 4: Substitute eqns. in Step 3 into eqns. in Step 2 and collect
common terms to yield node-voltage eqns.
 1   1  i (0)
Node A :  G + VA ( s ) −  VB ( s ) = I S ( s ) − L
 Ls   Ls  s
 1   1  i (0)
Node B : −  VA ( s ) +  + Cs VB ( s) = CvC (0) + L
 Ls   Ls  s
 Solving s-Domain Circuit Equations
G + 1 Ls − 1 Ls
• Circuit Determinant: ∆( s ) =
− 1 Ls Cs + 1 Ls
= (G + 1 Ls )(Cs + 1 Ls ) − (1 Ls ) 2
GLCs 2 + Cs + G
=
Ls
Depends on circuit element parameters: L, C, G=1/R,
not on driving force and initial conditions
• Solve for node A using Cramer’s rule:
I S ( s ) + i L ( 0) s − 1 Ls
∆ A ( s) iL (0) s + CvC (0) Cs + 1 Ls
VA ( s ) = =
∆(s) ∆(s)
( LCs 2 + 1) I S ( s) − LCsiL (0) + CvC (0)
= +
GLCs + Cs + G
2
GLCs 2 + Cs + G
Zero State Zero input
when initial condition when input sources
sources are turned off are turned off
Solving s-Domain Circuit Eqns. (Cont’d)
• Solve for node B using Cramer’s rule:
G + 1 Ls I S ( s ) − iL (0) s
∆ B (s) − 1 Ls iL (0) s + CvC (0)
VB ( s ) = =
∆( s) ∆( s)
I S ( s) GLiL (0) + (GLs + 1)CvC (0)
= +
GLCs + Cs + G
2
GLCs 2 + Cs + G

Zero State Zero input

 Network Functions
Zero - state Response Transform
Network function =
Input Signal Transform
I (s )
• Driving-point function relates the voltage and
+ Circuit
current at a given pair of terminals called a port
V (s ) in the
V (s) 1
Z ( s) = = − zero-state
I ( s) Y ( s)
• Transfer function relates an input and response at
Input Circuit Output
different ports in the circuit in the
V (s) V1 or I1 V or I
TV ( s ) = Voltage Transfer Function = 2 zero-state 2 2
V1 ( s )
I2
I 2 (s)
TI ( s ) = Current Transfer Function = +
V1 TV (s )
+
I1 TI (s )
I1 ( s ) V2
−
_
I ( s)
TY ( s) = Transfer Admittance = 2 In Out In Out
V1 ( s) I2
V (s) + +
TZ ( s) = Transfer Impedance = 2 _ V1 TY (s ) I1 TZ (s ) V2
−
I1 ( s )
In Out In Out
 Calculating Network Functions
• Driving-point impedance
Z1 Z EQ ( s ) = Z1 ( s) + Z 2 ( s )
+
+
V1 ( s ) Z2 V2 ( s) • Voltage transfer function:
_
 Z 2 (s) 
− V2 ( s ) =  V1 ( s )
 Z1 ( s ) + Z 2 ( s ) 
V (s) Z 2 ( s)
TV ( s) = 2 =
V1 ( s ) Z1 ( s ) + Z 2 ( s )
• Driving-point admittance
I 2 (s)
YEQ ( s ) = Y1 ( s ) + Y2 ( s)
• Voltage transfer function:
I1 ( s ) Y1 Y2
 Y2 ( s ) 
I 2 (s) =  Y1 ( s)
 Y1 ( s) + Y2 ( s ) 
I (s) Y2 ( s )
TI ( s ) = 2 =
I1 ( s ) Y1 ( s ) + Y2 ( s)
 Impulse Response and Step Response
• Input-output relationship in s-domain Input Output
T(s)
Y ( s) = T ( s) X ( s) X (s ) Circuit Y (s )
• When input signal is an impulse x(t ) = δ (t )
Y ( s) = T ( s) ×1 = T ( s)
– Impulse response equals network function
– H(s) = impulse response transform
– h(t) = impulse response waveform
• When input signal is a step x(t ) = u (t )
– G(s) = step response transform
– g(t) = step response waveform
T (s) H (s)
G (s) = =
s s
(=) means equal almost everywhere,
dg (t )
g ( s) = ∫ h(τ )dτ ,
t
h(t )(=) excludes those points at which g(t)
0 dt has a discontinuity