Chapter 8

Natural and Step Responses of

RLC Circuits
8.1-2 The Natural Response of a Parallel RLC
Circuit
8.3
The Step Response of a Parallel RLC
Circuit
8.4
The Natural and Step Response of a
Series RLC Circuit

Key points

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?

What are the initial conditions in an RLC circuit?

How to use them to determine the expansion
coefficients of the complete solution?

Comparisons between: (1) natural & step

responses, (2) parallel, series, or general RLC.
2

Section 8.1, 8.2

The Natural Response of a
Parallel RLC Circuit
1.

2.
3.
4.

ODE, ICs, general solution of parallel

voltage
Over-damped response
Under-damped response
Critically-damped response
3

The governing ordinary differential equation (ODE)

V0, I0, v(t) must
satisfy the
passive sign
convention.

dv
v
1 t

I 0 v (t )dt 0.
By KCL: C
dt
L 0
R

Perform time derivative, we got a linear 2ndorder ODE of v(t) with constant coefficients:
d 2 v 1 dv v

0.
2
dt
RC dt LC

The two initial conditions (ICs)

The capacitor voltage cannot change abruptly,

v (0 ) V0 (1)

The inductor current cannot change abruptly,

iL (0 ) I 0 , iC (0 ) iL (0 ) iR (0 ) I 0 V0 R ,
dvC
iC (0 ) C
dt

I 0 V0
, vC (0 ) v(0 )
( 2)
C RC
t 0

General solution

Assume the solution is v(t ) Ae st, where A, s are

unknown constants to be solved.

Substitute into the ODE, we got an algebraic

(characteristic) equation of s determined by the circuit
parameters:
s
1
2

RC

LC

0.

Since the ODE is linear, linear combination of

solutions remains a solution to the equation. The
general solution of v(t) must be of the form:

v (t ) A1e s1t A2e s2t ,

where the expansion constants A1, A2 will be determined
by the two initial conditions.

Neper and resonance frequencies

In general, s has two roots, which can be (1)

distinct real, (2) degenerate real, or (3) complex
conjugate pair.
2

s1, 2

1
1
1

2 02 ,

2 RC
2 RC LC

where
1

, neper frequency
2 RC

1
resonance (natural) frequency
LC
7

Three types of natural response

How the circuit reaches its steady state depends

on the relative magnitudes of and 0:

The Circuit is
Over-damped
Under-damped
Critically-damped

When

Solutions

real, distinct
roots s1, s2

complex roots
s1 = (s2)*

real, equal roots

s1 = s2
8

Over-damped response ( > 0)

The complete solution and its derivative are of

the form:
s1t
s2 t

v (t ) A1e A2e ,

v(t ) A1s1e s1t A2 s2e s2t .

where s1, 2 2 02 are distinct real.

Substitute the two ICs:

v (0 ) A1 A2 V0 (1)
solve

I 0 V0
A1, A2.

v(0 ) s1 A1 s2 A2 C RC ( 2)

Example 8.2: Discharging a parallel RLC circuit (1)

Q: v(t), iC(t), iL(t), iR(t) = ?

12 V

30 mA

1
1

>0,
2 RC 2( 200)( 2 107 ) 12.5 kHz,

over
1
1
0

10 kHz. damped
LC

(5 102 )( 2 107 )
10

Example 8.2: Solving the parameters (2)

The 2 distinct real roots of s are:

s 2 2 5 kHz, |s1| < (slow)

0
1

2
2

2
0 20 kHz. |s2| > (fast)

The 2 expansion coefficients are:

A1 A2 V0
A1 A2 12

I 0 V0
5 A1 20 A2 450
s1 A1 s2 A2 C RC
A1 14 V, A2 26 V.
11

Example 8.2: The parallel voltage evolution (3)

v (t ) A1e s1t A2e s2t 14e 5000t 26e 20000t V.

|s2| > (fast)

dominates
Over
damp

Converge
to zero
|s1| < (slow)
dominates
12

Example 8.2: The branch currents evolution (4)

The branch current through R is:

v(t )
iR (t )
70e 5000t 130e 20000t mA.
200

The branch current through L is:

t
1
5000 t
20000 t

iL (t ) 30 mA
v
(
t
)
d
t

56
e

26
e
mA.

0
50 mH

The branch current through C is:

dv
iC (t ) (0.2 F) 14e 5000t 104e 20000t mA.
dt
13

Example 8.2: The branch currents evolution (5)

Converge
to zero

14

General solution to under-damped response ( < 0)

The two roots of s are complex conjugate pair:

s1, 2 2 02 jd ,

where d 02 2 is the damped frequency.

The general solution is reformulated as:

v (t ) A1e( jd ) t A2e( jd ) t

e t A1 cos d t j sin d t A2 cos d t j sin d t

e t A1 A2 cos d t j A1 A2 sin d t
e t B1 cos d t B2 sin d t .

15

Solving the expansion coefficients B1, B2 by ICs

The derivative of v(t) is:

v(t ) B1 e t cos d t d e t sin d t
B2 e t sin d t d e t cos d t

e t B1 d B2 cos d t B2 d B1 sin d t .

Substitute the two ICs:

v (0 ) B1 V0 (1)

I 0 V0

v(0 ) B1 d B2 C RC (2)

solve
B1, B2.

16

Example 8.4: Discharging a parallel RLC circuit (1)

Q: v(t), iC(t), iL(t), iR(t) = ?

0V

-12.25 mA

1
1

2 RC 2( 2 104 )(1.25 107 ) 0.2 kHz, < 0,

under
1
1
0

1 kHz.
damped
7
LC

(8)(1.25 10 )
17

Example 8.4: Solving the parameters (2)

The damped frequency is:

d 1 0.2 0.98 kHz.

2
0

The 2 expansion coefficients are:

B1 V0 0(1)
B1 0,

I 0 V0
B1 d B2 C RC ( 2) B2 100 V

18

Example 8.4: The parallel voltage evolution (3)

v (t ) B1e t cos d t B2e t sin d t 100e 200t sin 980t V.

The voltage
oscillates (~d) and
approaches the final
value (~), different
from the overdamped case (no
oscillation, 2 decay
constants).

19

Example 8.4: The branch currents evolutions (4)

The three branch currents are:

20

Rules for circuit designers

If one desires the circuit reaches the final value

as fast as possible while the minor oscillation is
of less concern, choosing R, L, C values to
satisfy under-damped condition.

If one concerns that the response not exceed its

final value to prevent potential damage,
designing the system to be over-damped at the
cost of slower response.

21

General solution to critically-damped response ( = 0)

Two identical real roots of s make

v (t ) A1e st A2e st ( A1 A2 )e st A0e st ,

not possible to satisfy 2 independent ICs (V0, I0)

with a single expansion constant A0.

The general solution is reformulated as:

v (t ) e t D1t D2 .

You can prove the validity of this form by

substituting it into the ODE:
v(t ) ( RC ) 1 v(t ) ( LC ) 1 v (t ) 0.
22

Solving the expansion coefficients D1, D2 by ICs

The derivative of v(t) is:

v(t ) D1 e t te t D2e t D1 D2 D1t e t .

Substitute the two ICs:

v (0 ) D2 V0 (1)

solve D1, D2.

I 0 V0

v(0 ) D1 D2 C RC ( 2)

23

Example 8.5: Discharging a parallel RLC circuit (1)

Q: What is R such that the circuit is criticallydamped? Plot the corresponding v(t).

0V

1
0 ,

2 RC

R
-12.25 mA

1
1 L 1
8
, R

4 k.
7
2 C 2 1.25 10
LC

Increasing R tends to bring the circuit from overto critically- and even under-damped.

24

Example 8.5: Solving the parameters (2)

The neper frequency is:

1
1

1 kHz,
3
7
2 RC 2(4 10 )(1.25 10 )
1
1 ms.

The 2 expansion coefficients are:

D2 V0 0 (1)
D1 98 kV s

-12.25 mA

I 0 V0
D1 D2 C RC ( 2) D2 0
0.125 F

25

Example 8.5: The parallel voltage evolution (3)

v(t ) D1te t D2 e t 98,000te 1000t V.

98 V/ms

26

Procedures of solving nature response of parallel RLC

Calculate parameters (2 RC ) 1 and 0 1

Write the form of v(t) by comparing and :

LC .

A e s1t A e s2t , s - 2 2 , if ,
2
1, 2
0
0
1
t
v (t ) e B1 cos d t B2 sin d t , d 02 2 , if 0 ,
t
e D1t D2 , if 0 .

Find the expansion constants (A1, A2), (B1, B2), or

(D1, D2) by two ICs: v(0 ) V0 (1),

I 0 V0

v (0 ) C RC (2)

27

Section 8.3
The Step Response of
a Parallel RLC Circuit
1.

Inhomogeneous ODE, ICs, and general

solution

28

The homogeneous ODE

Is

+
V0

I0

1 t
v
dv

By KCL: C
I 0 v (t )dt I s .
dt
L 0
R

Perform time derivative, we got a homogeneous

ODE of v(t) independent of the source current Is:
d 2 v 1 dv v

0.
2
dt
RC dt LC

29

The inhomogeneous ODE

Is

iL
V0

I0

Change the unknown to the inductor current iL(t):

v
dv
C dt iL R I s , d 2iL
Is
1 diL iL
2

dt
RC dt LC LC
v L diL ,

dt
30

The two initial conditions (ICs)

iL

Is

V0

I0

The inductor current cannot change abruptly,

iL (0 ) I 0 (1)

The capacitor voltage cannot change abruptly,

vC (0 ) V0 vL (0 ),
diL
vL (0 ) L
dt

V0
, iL (0 ) ( 2)
L
t 0

31

General solution

The solution is the sum of final current If = Is and

the nature response iL,nature(t):

iL (t ) I f iL,nature (t ),
where the three types of nature responses were
elucidated in Section 8.2:

I f A1e s1t A2e s2t , if 0 ,

iL (t ) I f e t B1 cos d t B2 sin d t , if 0 ,

t
D1t D2 , if 0 .

I
e
f
32

Example 8.7: Charging a parallel RLC circuit (1)

Q: iL(t) = ?
I0 = 0

Is=

24
mA

V0 = 0

625

1
1

2 RC 2(625)( 2.5 108 ) 32 kHz,

< 0,

under
1
1
0

40 kHz. damped
2
8
LC

(2.5 10 )( 2.5 10 )
33

Example 8.7: Solving the parameters (2)

The complete solution is of the form:

iL ( t ) I s e

B1 cos d t B2 sin d t ,

2
2
2
2

40

32
24 kHz.
where d
0

The 2 expansion coefficients are:

I s B1 I 0 0(1)
B1 24 mA,

V0
B1 d B2 L 0(2) B2 32 mA
34

Example 8.7: Inductor current evolution (3)

iL (t ) 24 24e 32,000t cos(24,000t ) 32e 32,000t sin(24,000t ) mA.

35

Example 8.9: Charging of parallel RLC circuits (1)

Q: Compare iL(t) when the resistance R = 625

(under-damp), 500 (critical damp), 400
(over-damp), respectively.
I0 = 0

Is=

24
mA

V0 = 0

& final conditions remain: iL(0+)=0, i'L(0+)=0,

If = 24 mA. Different Rs give different functional
forms and expansion constants.

Initial

36

Example 8.9: Comparison of rise times (2)

The current of an under-damped circuit rises

faster than that of its over-damped counterpart.

37

Section 8.4
The Natural and Step
Response of a Series RLC
Circuit
1.

Modifications of time constant, neper

frequency

38

ODE of nature response

V0, I0, i(t) must
satisfy the
passive sign
convention.
1 t
di

i
(
t
)
d
t
0.
Ri
L
By KVL:
0

dt
C 0

2
d
i
R
di
i
By derivative:

0.
2
dt
L dt LC

1
in parallel RLC
RC

39

The two initial conditions (ICs)

The inductor cannot change abruptly,

i (0 ) I 0 (1)

The capacitor voltage cannot change abruptly,

vC (0 ) V0 , vL (0 ) vC (0 ) vR (0 ) V0 I 0 R,
diL
vL (0 ) L
dt

V0 I 0 R
, iL (0 ) i(0 )
( 2)
L
t 0

40

General solution
st
i
(
t
)

Ae
Substitute
into the ODE, we got a

different characteristic equation of s:

1
R
2
2

s s
0.
1, 2
0.
L
LC
2

The form of s1,2 determines the form of general

solution:
A1e s t A2e s t , if 0
1

t
i (t ) e B1 cos d t B2 sin d t , if 0
e t D t D , if
1
2
0

R
, 0
where
2L

1
, d 02 2 .
LC

( 2 RC ) 1 in parallel RLC

41

Example 8.11: Discharging a series RLC circuit (1)

Q: i(t), vC(t) = ?
I0 = 0

vC(0-) = 100 V,
V0 = -100 V

+
100 V

560
R

2 L 2(0.1) 2.8 kHz,

1
1
0

10 kHz.
7
LC

(0.1)(1 10 )

<0,
underdamped
42

Example 8.11: Solving the parameters (2)

The damped frequency is:

d 10 2.8 9.6 kHz.

2
0

The 2 expansion coefficients are:

B1 I 0 0(1)
B1 0,
-100 V

V0 I 0 R
(2) B2 104.2 mA
B1 d B2
L
9.6
kHz

100 mH

43

Example 8.11: Loop current evolution (3)

i (t ) e t B1 cos d t B2 sin d t 104.2e 2,800t sin 9,600t mA.

44

Example 8.11: Capacitor voltage evolution (4)

vc (t ) Ri (t ) Li(t )

e 2,800t 100 cos 9,600t 29.17 sin 9,600t V.

When the capacitor

energy starts to
decrease, the
inductor energy starts
to increase.

Inductor energy starts

to decrease before
capacitor energy
decays to 0.
45

ODEs of step response

I0
Vs

V0

1 t
di

By KVL: Ri L
V0 i (t )dt Vs .
dt
C 0

The homogeneous and inhomogeneous ODEs

of i(t) and vC (t) are:
d 2i R di
i
d 2vC R dvC vC
Vs

0, and

.
2
2
dt
L dt LC
dt
L dt LC LC
46

The two initial conditions (ICs)

I0
vC (t)

Vs

V0

The capacitor voltage cannot change abruptly,

vC (0 ) V0 (1)

The inductor current cannot change abruptly,

iL (0 ) I 0 iC (0 ),
dvC
iC (0 ) C
dt

I0
, vC (0 ) ( 2)
C
t 0

47

General solution

The solution is the sum of final voltage Vf = Vs

and the nature response vC,nature(t):

vC (t ) V f vC ,nature (t ),
where the three types of nature responses were
elucidated in Section 8.4.

V f A1e s1t A2e s2t , if 0 ,

vC (t ) V f e t B1 cos d t B2 sin d t , if 0 ,

t
D1t D2 , if 0 .

V
e
f
48

Key points

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?

What are the initial conditions in an RLC circuit?

How to use them to determine the expansion
coefficients of the complete solution?

Comparisons between: (1) natural & step

responses, (2) parallel, series, or general RLC.
49