CHAPTER 5

Time domain response of Second

order linear circuits
TOPICS COVERED IN THIS CHAPTER
• Examples of 2nd order RCL circuit
• Discharging of a Capacitor through an inductor
• The source-free series RLC circuit
• The source-free parallel RLC circuit
• Step response of a series RLC circuit
• Step response of a parallel RLC

2
SECOND ORDER RLC CIRCUITS
What is a 2nd order circuit?

A second-order circuit is characterized by a second-order differential

equation. It consists of resistors and the equivalent of two energy storage
elements.
R L

+ +
US C US R L C
_ _

(a) series RLC circuit (b) parallel RLC circuit

3
 DISCHARGING A CAPACITOR THROUGH AN INDUCTOR
Solution
A B
S Step 1. Write down the u-i relationship for the
+
capacitor and inductor and apply KCL and KVL,
U0 C L respectively.
_ duC
iC = C = −iL
dt
di
uL = L L = uC
dt
Step 2. Obtain differential equations in the capacitor voltage uC and inductor
current iL.
d 2 uC 1
2
= − uC
dt LC
d 2iL 1
2
= − iL
dt LC 4
 DISCHARGING A CAPACITOR THROUGH AN INDUCTOR
Step 3. Construct the waveforms uC(t) and iL(t).
Specifically recall the differentiation properties of the sine and cosine
functions: 2
d d
sin(ω t + θ ) = ω cos(ω t + θ ) 2
sin(ω t + θ ) = −ω 2
sin(ω t + θ )
dt dt
d d2
cos(ω t + θ ) = −ω sin(ω t + θ ) 2
cos( ω t + θ ) = − ω 2
cos(ω t + θ )
dt dt
Thus one reasonable assumes that the solutions of differential equations have
the general forms:
uC ( t ) = K cos(ω t + θ )
i L ( t ) = K cos(ω t + θ )
Note : General solution has the equivalent form:
π
K sin(ω t + θ ) = K cos(ω t + θ − )
2
π 5
K cos(ω t + θ ) = K sin(ω t + θ + )
2
 Step 4. Find ω, K and θ for the capacitor voltage and inductor current
d 2 uC 1
Based on 2
= − uC and uC ( t ) = K cos(ω t + θ )
dt LC
duC d 2 uC
= − K ω sin(ω t + θ ) 2
= − K ω 2
cos(ω t + θ ) = −ω 2
uC
dt dt
1 1
ω2 = or ω =
LC LC
The values of K and θ depend on the initial conditions.
+
A B iL uC (0 ) = K cosθ = U 0
S 1 1
uC′ (0+ ) = −ω K sin θ = iC (0+ ) = − i L (0+ ) = 0
+ iC + +
C C
U0 C uC uL L θ = 0 and K = U 0
_ _ _ t
uC ( t ) = U 0 cos( )
LC
C t
Obtain iL(t) directly by differentiating iL ( t ) = U 0 sin( )
L LC
6
SOURCE-FREE SERIES RLC CIRCUITS
• The solution of the source-free series RLC
circuit is called as the natural response of
the circuit.

• The circuit is excited by the energy initially

stored in the capacitor and inductor.

The 2nd order of d 2 i R di i

2
+ + =0
expression dt L dt LC

7
 SOURCE-FREE SERIES RLC CIRCUITS
There are three possible solutions for the following 2nd order differential
equation:
d 2 i R di i
2
+ + =0
dt L dt LC

d 2i di R 1
=>
2
+ 2α + ω 0i =0
2
where α= and ω0 =
dt dt 2L LC
General 2nd order Form

8
 SOURCE-FREE SERIES RLC CIRCUITS
There are three possible solutions for the following 2nd order differential
equation:
d 2i di
2
+ 2α + ω 2
0 i =0
dt dt

1. If a > wo, over-damped case

i (t ) = A1e s1t + A2 e s2t s1, 2 = − α ± α 2 − ω0
2

where
2. If a = wo, critical damped case
i (t ) = ( A2 + A1t )e−αt where s1, 2 = − α

3. If a < wo, under-damped case

i (t ) = e −αt ( B1 cos ω d t + B2 sin ω d t ) ω d = ω 02 − α 2
where 9
SOURCE-FREE PARALLEL RLC CIRCUITS
0
1
Let i (0) = I 0 = ∫ v(t )dt
L∞

v(0) = V0
Apply KCL to the top node:
t
v 1 dv
+ ∫ vdt + C = 0
R L −∞ dt

Taking the derivative with

respect to t and dividing by C
The 2nd order of d 2 v 1 dv 1
2
+ + v=0
expression dt RC dt LC
10
 SOURCE-FREE PARALLEL RLC CIRCUITS
There are three possible solutions for the following 2nd order differential
equation:
d 2v dv 1 1
2
+ 2α + ω 2
0 v =0 where α = and ω0 =
dt dt 2 RC LC

1. If a > wo, over-damped case

v(t ) = A1 e s1t + A2 e s2t s1, 2 = − α ± α 2 − ω0
2

where
2. If a = wo, critical damped case
v(t ) = ( A2 + A1t ) e −αt where s 1, 2 = −α

3. If a < wo, under-damped case

v ( t ) = e − α t ( B 1 cos ω d t + B 2 sin ω d t ) ωd = ω 02 − α 2
where 11
 STEP-RESPONSE SERIES RLC CIRCUITS
• The step response is obtained
by the sudden application of a
dc source.

The 2nd order of d 2 v R dv v vs

expression 2
+ + =
dt L dt LC LC
The above equation has the same form as the equation for source-free
series RLC circuit.
• The same coefficients (important in determining the frequency
parameters).
• Different circuit variable in the equation. 12
 STEP-RESPONSE SERIES RLC CIRCUITS
The solution of the equation should have two components:
the transient response vt(t) & the steady-state response vss(t):
v ( t ) = v t ( t ) + v ss ( t )

• The transient response vt is the same as that for source-free case

vt (t ) = A1e s1t + A2 e s2t (over-damped)
vt (t ) = ( A1 + A2t )e −αt (critically damped)
vt (t ) = e −αt ( A1 cos ω d t + A2 sin ω d t )
(under-damped)
• The steady-state response is the final value of v(t).

vss(t) = v(∞)
• The values of A1 and A2 are obtained from the initial conditions:

v(0) and dv(0)/dt.
13
 STEP-RESPONSE PARALLEL RLC CIRCUITS
• The step response is obtained
by the sudden application of a
dc source.

The 2nd order of d 2i 1 di i Is

2
+ + =
expression dt RC dt LC LC

It has the same form as the equation for source-free parallel RLC circuit.
• The same coefficients (important in determining the frequency
parameters).
• Different circuit variable in the equation.
14
 STEP-RESPONSE PARALLEL RLC CIRCUITS
The solution of the equation should have two components:
the transient response vt(t) & the steady-state response vss(t):

i (t ) = it (t ) + iss (t )
• The transient response it is the same as that for source-free case
it (t ) = A1e s1t + A2 e s2t (over-damped)
it (t ) = ( A1 + A2t )e −αt (critical damped)
it (t ) = e −α t ( A1 cos ω d t + A2 sin ω d t ) (under-damped)
• The steady-state response is the final value of i(t).

iss(t) = i(∞) = Is
• The values of A1 and A2 are obtained from the initial conditions:

i(0) and di(0)/dt.
15