TRANSIENT RESPONSE OF 2ND-ORDER CIRCUITS

(NATURAL RESPONSE)
 INTRODUCTION
• This lecture deals with the RLC circuits containing both an inductor
and a capacitor, which are 2nd-order circuits

• 2nd-order circuit responses are described by 2nd-order differential

equations (containing a double derivative w.r.t time).

• The response of RLC circuits with DC sources and switches consist of

a natural response and a forced response:
v(t) = vf (t)+vn (t)

• The complete response must satisfy both the initial conditions and the
final conditions of the forced response.
2
 BASIC CONCEPTS
Finding initial and final values
• Objective: Find v(0), i(0), dv(0)/dt, di(0)/dt, i(∞), v(∞)
• Two key points: (a) The direction of the current i(t)
(b) the polarity of voltage v(t).
• v and i are defined according to the passive sign convention.

3
 BASIC CONCEPTS
• The capacitor voltage is always continuous:
v(0+) = v(0-)
• The inductor current is always continuous:
i(0+) = i(0-)

Learning objectives:
• Determine the natural responses of parallel and series RLC circuits.
• To understand the initial conditions in an RLC circuit and use them
to determine the expansion coefficients of the complete solution.
• 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.
4
Problem 1: The switch was closed for a long time and opened at t = 0.
Find: (a) i(0+), v(0+), (b) di(0+) ∕dt, dv(0+) ∕dt, (c) i(∞), v(∞).

5
 i(0-) = (12)/(4 + 2) = 2 A, v(0-) = 2i(0-) = 4 V

(a) t = 0- (b) t = 0+ (c) t → ∞

As the inductor current and the capacitor voltage cannot change abruptly,
i(0+) = i(0-) = 2 A, v(0+) = v(0-) = 4 V

At t = 0+, the switch is open, same current flows through both the inductor
and capacitor. Hence, iC(0+) = i(0+) = 2 A
6
 Since, ic  C dv ; dv  ic
dt dt C
dv(0 ) ic (0  ) 2
   20V/s
dt C 0.1
di di vL
Also, vL  L ; 
dt dt L
vL is obtained by applying KVL in the loop,
−12 + 4i(0+) + vL(0+) + v(0+) = 0
=> vL(0+) = 12 − 8 − 4 = 0 t = 0+
di(0  ) vL (0  ) 0
=>    0A/s
dt L 0.25
7
For t > 0,
• The circuit first undergoes through some transients.
• As t → ∞, the circuit reaches steady state again.
The inductor acts like a short circuit and the
capacitor like an open circuit.

i(∞) = 0 A, v(∞) = 12 V

t→∞
8
 THE SOURCE-FREE SERIES RLC CIRCUIT
Consider the given series RLC circuit,
• The circuit is being excited by the
energy initially stored in the
capacitor and inductor.
• The energy is represented by the
initial capacitor voltage V0 and
initial inductor current I0.
• Thus, at t = 0,
0
1
v(0)   i dt  V0
C 
i(0)  I0
9
 t
di 1
On applying KVL, Ri  L   i( ) d  0
dt C 
on differentiating,
d 2i R di i
  0
2
dt L dt LC
This is a second-order differential equation for the current i in the circuit.

The initial values and the first derivative are related as,
di(0) di(0) 1
Ri(0)  L V0  0;   (RI 0 V0 )
dt dt L
10
Look for solutions of the form i = Aest where, A and s are constants.
st
AR Ase
Substitute this into differential equation, As e 
2 st
se 
st
0
L LC
st  2 R 1 
Ae  s  s   0
 L LC 

Thus,
R 1
s 
2
s 0
L LC
This quadratic equation is known as the characteristic equation

11
The roots of the equation dictate the character of i and they are given as,
 R 
2
R 1
s1      
2L  2L  LC

 R 
2
R 1
s2      
2L  2L  LC
A more compact way of expressing the roots is,
s1     2  02

s
2    2
  2
0
where, R 1
  ; 0  SERIES RLC CIRCUIT
2L LC 12
• 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
• ω0 is known as the resonant frequency or strictly as the undamped
natural frequency, expressed in radians per second (rad/s);
• α is the neper frequency (or damping constant) expressed in
nepers per second.
The expression given is modified in terms of α and ω0,
2  R s 1 0
s
L LC
s 2  2 s  02  0
13
The two values of s indicate that there are two possible solutions for i,
i1  A1e s1t ;i2  A2e s2t
• A complete or total solution would therefore require a linear
combination of i1 and i2.
• Thus, the natural response of the series RLC circuit is
i(t)  A1e s1t  A2e s2t
where the constants A1 and A2 are determined from the initial values
i(0) and di(0) ∕dt.
Three types of solutions are inferred:
1. If α > ω0, we have the over-damped case.
2. If α = ω0, we have the critically-damped case.
3. If α < ω0, we have the under-damped case.
14
• Overdamped Case (α > ω0) R 1
α > ω0 implies R2 > 4L ∕ C   ; 0 
2L LC
When this happens, both roots s1 and s2 are negative and real.
s1     2   02

2  
s  2  02
The response is given as,
i(t)  A e s1t  A e s2t
1 2

Overdamped response
15
• Critically Damped Case (α = ω0)
R
α = ω0 implies R = 4L ∕ C
2 Thus s1  s2    
2L
t 
For this case,
 t t
i(t)  Ae
1
A2
e  A3
e
where A3 = A1 + A2 . But this cannot be the solution, because the two
initial conditions cannot be satisfied with the single constant A3.
di
When α = ω0 = R ∕ 2L, then let, f    i, then,
dt
d 2i 2 di   2i  0
 df   f  0
dt 2 dt dt
d  di   di  this is a first-order differential
  i      i   0 equation with solution f = A1e−αt,
dt  dt   dt 
where A 1 is a constant.
16
The original equation for current i becomes,
Critically-damped response
di
  i  A1e  t
dt
e t di  e t i  A1; d e t i   A1
dt dt
on integration,
e  t i  At  A ; i  ( A t  A )e  t
1 2 1 2

Hence, the natural response of the critically damped circuit is a sum of

two terms: a negative exponential and a negative exponential multiplied
by a linear term.
17
• Underdamped Case (α < ω0)
α < ω0 implies R2 < 4L ∕ C. The roots may be written as,
s    (2   2 )    j
1 0 d

s    ( 2   2 )    j
2 0 d

where, j  1; d  0
2
  2

Both ω0 and ωd are natural frequencies because they help determine the
natural response; while ω0 is called the undamped natural frequency,
ωd is called the damped natural frequency. The natural response is
i(t)  A1e (  jd )t  A2e (  jd )t
 e t ( A1e  jd t  A2e  jd t )
18
By using Euler’s identities,
i(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]
i(t)  e [B1 cos d t  B2 sin d t]
t

Note:
It is clear that the natural response for this case is exponentially damped
but also oscillatory in nature. The response has a time constant of 1/α and
a period of T = 2π/ωd.

Under-damped response

19
Conclusions:

(i) The damping effect is due to the presence of resistance R.

• The damping factor α determines the rate at which the response is
damped.
• If R = 0, then α = 0 and we have an LC circuit with 1/ LC as the
undamped natural frequency. The response in such a case is
undamped and purely oscillatory.
• The circuit is said to be lossless because the dissipating or damping
element (R) is absent.
• By adjusting the value of R, the response may be made undamped,
overdamped, critically damped or underdamped.
20
Conclusions:

(ii) Oscillatory response is possible due to the presence L and C.

• The damped oscillation exhibited by the underdamped response is
known as ringing. It stems from the ability of the storage elements
L and C to transfer energy back and forth between them.

(iii) The overdamped has the longest settling time because it takes the
longest time to dissipate the initial stored energy.
• If we desire the fastest response without oscillation or ringing, the
critically damped circuit is the right choice.

21
Problem 2: For the given circuit, R= 40 Ω, L = 4 H, and C = 1/4 F.
Calculate the characteristic roots of the circuit. Is the natural response
overdamped, underdamped, or critically damped?

22
 R 1
R= 40 Ω, L = 4 H, C = 1/4 F =>    5; 0  1
2L LC
The roots are, s     2  s2  5  52 1
1 01

2  5  52 1
2     02
s 2 s

s1 = -0.101; s2 = -9.899
Since α > ω0, we conclude that the
response is overdamped.
This is also evident from the fact that
the roots are real and negative.
23
Problem 3: Find i(t) for t > 0. Assume that the circuit has reached
steady state before the switch is opened.

24
Solution:

(a) for t < 0 (b) for t > 0.

10 R 1
i(0)   1A; v(0)  6i(0)  6V   9; 0   10
46 2L LC
s1  9  92 100
s2  9  9 2 100

Under-damped response s1,2  9  j4.359

25
Hence, i(t)  e9t
[A (cos 4.359t)  A (sin 4.359t)]
1 2

A1 and A2 are found using the initial conditions.

At t = 0, i(0) = 1 = A1

di 1
t0   [Ri(0)  v(0)]  6A/ s
dt L
Taking the derivative of i(t)
t>0
di
 9e9t [A1(cos 4.359t)  A2(sin 4.359t)]
dt
 e9t (4.359)[A (sin 4.359t)  A (cos 4.359t)]
1 2
26
6  9( Α1  0)  4.359(0  A2 )
substituting Α1  1,
6  9  4.359 A2
 A2  0.6882

Substituting the values of A1 and A2 yields the complete solution as,

i(t)  e9t [(cos 4.359t)  0.6882(sin 4.359t)]A for t > 0

27
 THE SOURCE-FREE PARALLEL RLC CIRCUIT
• Assume initial inductor current I0 and
initial capacitor voltage V0,
0
1
i(0)  I 0 
L  v(t)dt


v(0)  V0
• Three elements are in parallel, they
have the same voltage v across them.
• Applying KCL at the top node gives,
0


v  1 v( )d  C dv  0
R L  dt
28
 THE SOURCE-FREE PARALLEL RLC CIRCUIT
2
d v 1 dv 1
Taking another derivative w.r.t ‘t’,   v0
2
dt RC dt LC
The characteristic equation is given as,
1 1
s 
2
s 0
RC LC
Roots of the characteristic equation are,

 1   1
2
1
s1,2   2RC LC
2RC  
s1,2     2
  2
, 
1
, 0 
1
0
2RC LC
29
• Overdamped Case (α > ω0)
α > ω0 => L/C > 4R2. The roots of the characteristic equation are real
and negative. The response is,
v(t)  A e s1t  A e s2t
1 2

• Critically Damped Case (α = ω0)

α = ω0 => L/C = 4R2. The roots are real and equal so that the
response is, v(t)  ( A  A t)e   t
1 2

• Underdamped Case (α < ω0)

α < ω0 => L/C < 4R2. In this case the roots are complex conjugates
expressed as s1,2    jd ; d  02   2
v(t)  e t ( A1 cos d t  A2 sin d t)
30
• The constants A1 and A2 in each case can be determined from the
initial conditions i.e. v(0) and dv(0) ∕dt

V0 dv(0)
 I0  C 0
R dt
dv(0) (V0  RI 0 )

dt RC

31
Problem 4: In the given parallel circuit, find v(t) for t > 0, assuming
v(0) = 5 V, i(0) = 0, L = 1 H, and C = 10 mF.
Consider three cases: 1) R = 1.923 Ω, 2) R = 5 Ω, and 3) R = 6.25 Ω.

32
Solution: Case 1: R = 1.923 Ω, L = 1 H, C = 10 mF
1 1
   26;
2RC 21.92310 10 3

1 1
0    10
LC 110 10 3

Since α > ω0, the response is overdamped.

The roots of the characteristic equation are
s     2   2  2
1 0

2  50
s
2     2
 0
v(t)  Ae 2t  A e50t
1 2
33
Applying intial conditions,
s        2
2 2 Case 1:
1 0 R = 1.923 Ω, L = 1 H, C = 10 mF
s     2   2  50
2 0
2t 50t
v(t)  A1e  A2e
Applying intial conditions,
v(0)=5=A1  A2
dv(0) v(0)  Ri(0) at t  0, -260=-2A1  50A2
  260
dt RC The obtained values are,
on differentiating, A1  0.2083, A2  5.208
dv
 2A1e 2t  50A2e 50t v(t)  0.2083e 2t  5.208e 50t
dt
34
CASE 2: R = 5 Ω, L = 1 H, C = 10 mF v(t)  ( A  A t)e t
1 2
1 1
   10; Applying intial conditions,
2RC 2 510 10 3
v(0)=5=A1
1 1
0    10 dv(0) v(0)  Ri(0)
LC 110 10 3   100
dt RC
The response is critically-damped. on differentiating,
dv
 (10 A1 10A2t  A2 )e 10t
dt
at t  0, -100=-10A1  A2
The obtained values are,
v(t)  (5  50t)e 10tV
35
CASE 3: R = 6.25 Ω, L = 1 H, C = 10 mF
1 1
   8;
2RC 2 6.2510 10 3

1 1
0    10
LC 110 10 3
The response is underdamped. s1,2    jd  8  j6
v(t)  e 8t ( A cos 6t  A sin 6t)
1 2

Obtain A1 and A2 from initial conditions:

v(0)=5=A1 at t  0, -80=-8A1  6A2
dv(0) v(0)  Ri(0) A1  5; A2  6.667
  80
dt RC v(t)  (5cos 6t  6.667 sin 6t)e 8tV
36
Problem 5: Find v(t) for t > 0 in the RLC circuit. Assume
that the switch has been open for a long time before closing.

37
Solution:
• For t < 0, the switch
is open.
• Inductor acts like a
short circuit,
capacitor behaves 50
like an open circuit. v(0)  (40)  25;
30  50
• The initial voltage
40
across the capacitor i(0)   0.5A
is the same as the 30  50
voltage across the dv(0) v(0)  Ri(0)
50-Ω resistor.  0
dt RC
38
For t > 0, the switch is
closed. The voltage source
along with the 30-Ω resistor
is separated from the rest of
the circuit.
1 1
   500;
2RC 2 50  20 10 6

0 
1
 354 s1,2     2  02  500  354
LC s1  854; s2  146
Since α > ω0, we have the
overdamped response. v(t)  Ae
1
854t
 A2e 146t

39
Applying intial conditions,
v(0)=25=A1  A2
on differentiating,
dv
 854 Ae
1
854t
 146 A2e 146t
dt
dv(0)
 0  854 A1 146 A2
dt
A1  5.156; A2  30.16 Thus, the complete solution is given as,
v(t)  5.156e 854t  30.16e 146tV

40
 EXERCISE AND NUMERICAL EXAMPLES
Finding Initial and Final Values

Problem 6:For the circuit, find:

(a) i(0+) and v(0+),
(b) di(0+) ∕ dt and dv(0+) ∕ dt,
(c) i(∞) and v(∞)

Ans: (a) i(0+)= 2A, v(0+)=12V

(b) di(0+) ∕ dt = -4A/s, dv(0+) ∕ dt= -5V/s
(c) i(∞)=0A, v(∞)=0V

41
Problem 7: Refer to the circuit. Calculate:
(a) iL(0+), vC(0+), and vR(0+)
(b) diL(0+) ∕dt, dvC(0+) ∕dt, and dvR(0+) ∕dt
(c) iL(∞), vC(∞), and vR(∞).

Ans: (a) iL(0+)=0A, vC(0+)=-10V, vR(0+)=0V

(b) diL(0+) ∕dt= 0A/s ,dvC(0+) ∕dt=8V/s, dvR(0+) ∕dt=8V/s
(c) iL(∞)=400mA, vC(∞)=6V, = vR(∞)=16V

42
Problem 8:Refer to the circuit. Determine:
(a) i(0+) and v(0+)
(b) di ∕(0+)dt and dv(0+) ∕dt
(c) i(∞) and v(∞).

Ans: (a) i(0+) = 0A ,v(0+) = 0V

(b) di ∕(0+)dt = 4A/s, dv(0+) ∕dt =0V/s
(c) i(∞) = 2.4A, v(∞) = 9.6V

43
Problem 9: In the circuit, find:
(a) vR(0+) and vL(0+)
(b) dvR(0+) ∕dt and dvL(0+) ∕dt
(c) vR(∞) and vL(∞)

Ans: (a) vR(0+) =0V , vL(0+) =0V

(b) dvR(0+) ∕dt =0V/s , dvL(0+) ∕dt = Vs/(CRs)
(c) vR(∞) = [R/(R + Rs)]Vs, vL(∞) =0V

44
 Source-Free Series RLC Circuit
Problem 10: The current in an RLC circuit is described by
d 2i di
 10  25i  0
dt 2 dt
If i(0) = 10 A and di(0) ∕dt = 0, find i(t) for t > 0.
Ans: i(t) = [(10 + 50t)e-5t] A
Problem 11: The natural response of an RLC circuit is described by the
differential equation,
d 2v dv
2 v 0
dt 2 dt
for which the initial conditions are v(0) = 10 V and dv(0) ∕dt = 0. Solve for
v(t). Ans: v(t) = [(10 + 10t)e-t] V
45
Problem 12: The switch moves from position A to position B at t = 0
(please note that the switch must connect to point B before it breaks the
connection at A, a make-before-break switch). Let v(0) = 0, find v(t) for t
> 0.

Ans: v(t) =5.333e–2t–5.333e–0.5t V

46
Problem 13: In the circuit, the switch instantaneously moves from
position A to B at t = 0. Find v(t) for all t ≥ 0.

Ans: v(t) = [21.55e-2.679t – 1.55e-37.32t] V

47
Problem 14: The switch in the circuit has been closed for a long time but
is opened at t = 0. Determine i(t) for t > 0.

Ans: i(t) = (15cos(2t) + 15sin(2t))e-2t A 48

 Source-Free Parallel RLC Circuit

Problem 15: For the network, what value of C is needed to make the
response underdamped with unity neper frequency (α = 1)?

Ans: C = 40 mF
49
Problem 16: The switch moves from position A to position B at t = 0
(please note that the switch must connect to point B before it breaks the
connection at A, a make-before-break switch). Determine i(t) for t > 0.

Ans: i(t) = e–5t[4cos(19.365t) + 1.0328sin(19.365t)] A

50
Problem 17: A source free RLC has R= 1Ω, C=1nF and L= 1pF.
Calculate (a) calculate α and ω0
(b) s1and s2
(c)What is the form of inductor current response for t>0.

Ans: (a) α =5x108 s-1 , ω0=3.16x1013 rad/s

(b) s1and s2= 0.510  j 10  (0.25)(10 )
9 21 18

(c) The circuit is underdamped since α <ω0

51
Problem 18:Assuming R=2kΩ, design a parallel RLC circuit that has the
characteristic equation
s 2 100s 106  0

Ans: L=20H, C=50nF

Problem 19: Calculate io(t) and vo(t) for t > 0.

Ans: vo(t) =(24cos1.9843t + 3.024sin1.9843t)e-t/4 V

io(t) =[– 12.095sin1.9843t]e–t/4 A. 52