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Circuit Analysis II
with MATLAB® Computing and
Simulink®/SimPowerSystems® Modeling
Steven T. Karris
Orchard Publications
www.orchardpublications.com
Circuit Analysis II
with MATLAB® Computing and
Simulink® / SimPowerSystems®
Modeling
Steven T. Karris
Copyright 2009 Orchard Publications. All rights reserved. Printed in USA. No part of this publication may be
reproduced or distributed in any form or by any means, or stored in a data base or retrieval system, without the prior
written permission of the publisher.
Direct all inquiries to Orchard Publications, 39510 Paseo Padre Parkway, Fremont, California 94538, U.S.A.
URL: http://www.orchardpublications.com
Product and corporate names are trademarks or registered trademarks of the MathWorks, Inc., and Microsoft
Corporation. They are used only for identification and explanation, without intent to infringe.
ISBN10: 1934404201
ISBN13: 9781934404209
TX 5745064
Disclaimer
The author has made every effort to make this text as complete and accurate as possible, but no warranty is implied.
The author and publisher shall have neither liability nor responsibility to any person or entity with respect to any loss
or damages arising from the information contained in this text.
This text is written for use in a second course in circuit analysis. It encompasses a spectrum of
subjects ranging from the most abstract to the most practical, and the material can be covered in
one semester or two quarters.The reader of this book should have the traditional undergraduate
knowledge of an introductory circuit analysis material such as Circuit Analysis I with
MATLAB®Computing and Simulink®/ SimPowerSystems®Modeling, ISBN 978-1-934404-17-1.
Another prerequisite would be a basic knowledge of differential equations, and in most cases,
engineering students at this level have taken all required mathematics courses. Appendix H serves
as a review of differential equations with emphasis on engineering related topics and it is
recommended for readers who may need a review of this subject.
There are several textbooks on the subject that have been used for years. The material of this
book is not new, and this author claims no originality of its content. This book was written to fit
the needs of the average student. Moreover, it is not restricted to computer oriented circuit
analysis. While it is true that there is a great demand for electrical and computer engineers,
especially in the internet field, the demand also exists for power engineers to work in electric
utility companies, and facility engineers to work in the industrial areas.
Chapter 1 is an introduction to second order circuits and it is essentially a sequel to first order
circuits discussed in the last chapter of Circuit Analysis I with MATLAB®Computing and
Simulink®/ SimPowerSystems®Modeling, ISBN 978-1-934404-17-1. Chapter 2 is devoted to
resonance, and Chapter 3 presents practical methods of expressing signals in terms of the
elementary functions, i.e., unit step, unit ramp, and unit impulse functions. Accordingly, any
signal can be represented in the complex frequency domain using the Laplace transformation.
Chapters 4 and 5 are introductions to the unilateral Laplace transform and Inverse Laplace
transform respectively, while Chapter 6 presents several examples of analyzing electric circuits
using Laplace transformation methods. Chapter 7 is an introduction to state space and state
equations. Chapter 8 begins with the frequency response concept and Bode magnitude and
frequency plots. Chapter 9 is devoted to transformers with an introduction to self and mutual
inductances. Chapter 10 is an introduction to one- and two-terminal devices and presents several
practical examples. Chapters 11 and 12 are introductions to three-phase circuits.
It is not necessary that the reader has previous knowledge of MATLAB®. The material of this
text can be learned without MATLAB. However, this author highly recommends that the reader
studies this material in conjunction with the inexpensive MATLAB Student Version package that
is available at most college and university bookstores. Appendix A of this text provides a practical
introduction to MATLAB, Appendix B is an introduction to Simulink, and Appendix C
introduces SimPowerSystems. The pages where MATLAB scripts, Simulink / SimPowerSystems
models appear are indicated in the Table of Contents.
The author highly recommends that the reader studies this material in conjunction with the
inexpensive Student Versions of The MathWorks™ Inc., the developers of these outstanding
products, available from:
The MathWorks, Inc.
3 Apple Hill Drive
Natick, MA, 01760
Phone: 508-647-7000,
www.mathworks.com
[email protected].
Appendix D is a review of complex numbers, Appendix E is an introduction to matrices,
Appendix F discusses scaling methods, Appendix G introduces the per unit system used
extensively in power systems and in SimPwerSystems examples and demos. As stated above,
Appendix H is a review of differential equations. Appendix I provides instructions for
constructing semilog templates to be used with Bode plots.
In addition to numerous examples, this text contains several exercises at the end of each
chapter. Detailed solutions of all exercises are provided at the end of each chapter. The
rationale is to encourage the reader to solve all exercises and check his effort for correct
solutions and appropriate steps in obtaining the correct solution. And since this text was
written to serve as a self-study or supplementary textbook, it provides the reader with a
resource to test his knowledge.
The author is indebted to several readers who have brought some errors to our attention.
Additional feedback with other errors, advice, and comments will be most welcomed and
greatly appreciated.
Orchard Publications
39510 Paseo Padre Parkway
Suite 315
Fremont, California 94538
www.orchardpublications.com
[email protected]
Table of Contents
1 Second Order Circuits 11
1.1 Response of a Second Order Circuit ....................................................................11
1.2 Series RLC Circuit with DC Excitation ...............................................................12
1.2.1 Response of Series RLC Circuits with DC Excitation ...............................13
1.2.2 Response of Series RLC Circuits with AC Excitation .............................111
1.3 Parallel RLC Circuit ...........................................................................................115
1.3.1 Response of Parallel RLC Circuits with DC Excitation ..........................117
1.3.2 Response of Parallel RLC Circuits with AC Excitation..........................126
1.4 Other Second Order Circuits .............................................................................130
1.5 Summary .............................................................................................................136
1.6 Exercises..............................................................................................................138
1.7 Solutions to EndofChapter Exercises .............................................................140
MATLAB Computing: Pages 16, 17, 19, 113, 119, 1through 123,
125, 126, 128, 129, 132 through 134, 142,
144, 145
Simulink/SimPowerSystems Models: Pages 110, 114, 129, 153
2 Resonance 21
2.1 Series Resonance.................................................................................................. 21
2.2 Quality Factor Q0s in Series Resonance .............................................................. 24
2.3 Parallel Resonance ............................................................................................... 26
2.4 Quality Factor Q0P in Parallel Resonance........................................................... 29
2.5 General Definition of Q ....................................................................................... 29
2.6 Energy in L and C at Resonance........................................................................ 210
2.7 Half-Power Frequencies Bandwidth ............................................................... 211
2.8 A Practical Parallel Resonant Circuit................................................................ 216
2.9 Radio and Television Receivers ......................................................................... 218
2.10 Summary ............................................................................................................ 221
2.11 Exercises ............................................................................................................. 223
2.12 Solutions to EndofChapter Exercises............................................................. 225
MATLAB Computing: Pages 25, 26, 225, 227, 230, 231
Simulink / SimPowerSystems models: Pages 215, 216
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling iii
Copyright © Orchard Publications
6.8 Solutions to EndofChapter Exercises............................................................... 627
MATLAB Computing: Pages 66, 68, 615, 619 through 621,
629 through 6-32, 637
Simulink / SimPowerSystems models: Pages 68 through 611, 620 through 622
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling vii
Copyright © Orchard Publications
E.11 Solution of Simultaneous Equations with Matrices .......................................... E24
E.12 Exercises ............................................................................................................ E31
MATLAB Computing: Pages E3, E4, E5, E7, E8, E9, E10, E12,
E15, E16, E18, E22, E25, E6, E29
Simulink Modeling: Page E3
Excel Spreadsheet: Page E27
F Scaling F 1
F.1 Magnitude Scaling .................................................................................................. F1
F.2 Frequency Scaling ................................................................................................... F1
F.3 Exercises.................................................................................................................. F8
F.4 Solutions to EndofAppendix Exercises............................................................... F9
MATLAB Computing: Pages F3, F5
viii Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
Chapter 1
Second Order Circuits
T
his chapter discusses the natural, forced and total responses in circuits that contain resis-
tors, inductors and capacitors. These circuits are characterized by linear secondorder dif-
ferential equations whose solutions consist of the natural and the forced responses. We will
consider both DC (constant) and AC (sinusoidal) excitations.
As we know from previous studies,* the response is found from the differential equation describ-
ing the circuit, and its solution is obtained as follows:
1. We write the differential or integrodifferential (nodal or mesh) equation describing the circuit.
We differentiate, if necessary, to eliminate the integral.
2. We obtain the forced (steadystate) response. Since the excitation in our work here will be
either a constant (DC) or sinusoidal (AC) in nature, we expect the forced response to have
the same form as the excitation. We evaluate the constants of the forced response by substitu-
tion of the assumed forced response into the differential equation and equate terms of the left
side with the right side. The form of the forced response (particular solution), is described in
Appendix H.
3. We obtain the general form of the natural response by setting the right side of the differential
equation equal to zero, in other words, solve the homogeneous differential equation using the
characteristic equation.
4. We add the forced and natural responses to form the complete response.
5. Using the initial conditions, we evaluate the constants from the complete response.
* The natural and forced responses for firstorder circuits are discussed in Circuit Analysis I with MATLAB®
Computing and Simulink®/ SimPowerSystems® Modeling, ISBN 9781934404171.
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling 11
Copyright © Orchard Publications
Chapter 1 Second Order Circuits
R L
+
C
vS u0 t it
and by differentiation 2
di d i i dv
R ----- + L ------2- + ---- = -------S- t 0
dt dt C dt
To find the forced response, we must first specify the nature of the excitation v S , that is DC or
AC.
If v S is DC ( v S = cons tan t ), the right side of (1.1) will be zero and thus the forced response com-
ponent i f = 0 . If v S is AC ( v S = V cos t + , the right side of (1.1) will be another sinusoid
and therefore i f = I cos t + . Since in this section we are concerned with DC excitations, the
right side will be zero and thus the total response will be just the natural response.
The natural response is found from the homogeneous equation of (1.1), that is,
2
di d i i
R ----- + L ------2- + ---- = 0 (1.2)
dt dt C
whose characteristic equation is
2 1
Ls + Rs + ---- = 0
C
or
2 R 1
s + ---- s + -------- = 0
L LC
from which
* The unit step function and other elementary functions used in science and engineering are discussed in Chapter
3.
12 Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
Series RLC Circuit with DC Excitation
2
R R 1
s 1 s 2 = – ------- ---------2 – -------- (1.3)
2L 4L LC
We will use the following notations:
R 1
S = ------- 0 = -----------
- S = S – 0
2 2
nS =
2
0 – S
2
2L LC
(1.4)
or Damping Resonant Beta Damped Natural
Coefficient Frequency Coefficient Frequency
where the subscript s stands for series circuit. Then, we can express (1.3) as
2 2 2 2
s 1 s 2 = – S S – 0 = – S S if S 0 (1.5)
or
2 2 2 2
s 1 s 2 = – S 0 – S = – S n S if 0 S (1.6)
Case I: If 2S 20 , the roots s 1 and s 2 are real, negative, and unequal. This results in the over-
damped natural response and has the form
s1 t s2 t
in t = k1 e + k2 e (1.7)
Case II: If 2S = 20 , the roots s 1 and s 2 are real, negative, and equal. This results in the critically
damped natural response and has the form
–S t
i n t = Ae k1 + k2 t (1.8)
Case III: If 20 2S , the roots s 1 and s 2 are complex conjugates. This is known as the under-
damped or oscillatory natural response and has the form
–S t –S t
in t = e k 1 cos n S t + k 2 sin n S t = k 3 e cos n S t + (1.9)
Typical overdamped, critically damped and underdamped responses are shown in Figure 1.2, 1.3,
and 1.4 respectively where it is assumed that i n 0 = 0 .
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling 13
Copyright © Orchard Publications
Chapter 1 Second Order Circuits
Voltage
Time
Time
Time
Example 1.1
For the circuit of Figure 1.5, i L 0 = 5 A , v C 0 = 2.5 V , and the 0.5 resistor represents the
resistance of the inductor. Compute and sketch i t for t 0 .
Solution:
This circuit can be represented by the integrodifferential equation
t
di 1
Ri + L ----- + ----
dt C
0
i dt + v C 0 = 15 t 0 (1.10)
14 Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
Series RLC Circuit with DC Excitation
0.5 1 mH
+ 100 6 mF
i t
15u 0 t V
The roots of the characteristic equation of (1.11) are s 1 = – 200 and s 2 = – 300 . The total
response is just the natural response and for this example it is overdamped. Therefore, from (1.7),
s1 t s2 t – 200 t – 300 t
i t = in t = k1 e + k2 e = k1 e + k2 e (1.12)
The constants k 1 and k 2 can be evaluated from the initial conditions. Thus from the first initial
condition i L 0 = i 0 = 5 A and (1.12) we obtain
0 0
i 0 = k1 e + k2 e = 5
or
k1 + k2 = 5 (1.13)
We need another equation in order to compute the values of k 1 and k 2 . This equation will make
dv
use of the second initial condition, that is, v C 0 = 2.5 V . Since i C t = i t = C --------C- , we differ-
dt
entiate (1.12), we evaluate it at t = 0 + , and we equate it with this initial condition. Then,
di di
----- = – 200k 1 e –200 t – 300k 2 e –300 t and ----- = – 200k 1 – 300 k 2 (1.14)
dt dt +
t=0
+
Also, at t = 0 ,
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling 15
Copyright © Orchard Publications
Chapter 1 Second Order Circuits
+ di +
Ri 0 + L ----- + v c 0 = 15
dt +
t=0
– k 1 – 1.5 k 2 = 50 (1.16)
Simultaneous solution of (1.13) and (1.16) yields k 1 = 115 and k 2 = – 110 . By substitution into
(1.12) we find the total response as
– 200 t – 300 t
i t = i n t = 115e – 110 e (1.17)
Check with MATLAB*:
syms t; % Define symbolic variable t
% Must have Symbolic Math Toolbox installed
R=0.5; L=10^(3); C=100*10^(3)/6; % Circuit constants
y0=115*exp(200*t)110*exp(300*t); % Let solution i(t)=y0
y1=diff(y0); % Compute the first derivative of y0, i.e., di/dt
y2=diff(y0,2); % Compute the second derivative of y0, i.e, di2/dt2
% Substitute the solution i(t), i.e., equ (1.17)
% into differential equation of (1.11) to verify that
% correct solution was obtained. We must also
% verify that the initial conditions are satisfied.
y=y2+500*y1+60000*y0;
i0=115*exp(200*0)110*exp(300*0);
vC0=R*i0L*(23000*exp(200*0)+33000*exp(300*0))+15;
fprintf(' \n');...
disp('Solution was entered as y0 = '); disp(y0);...
disp('1st derivative of solution is y1 = '); disp(y1);...
disp('2nd derivative of solution is y2 = '); disp(y2);...
disp('Differential equation is satisfied since y = y2+y1+y0 = '); disp(y);...
disp('1st initial condition is satisfied since at t = 0, i0 = '); disp(i0);...
disp('2nd initial condition is also satisfied since vC+vL+vR=15 and vC0 = ');...
disp(vC0);...
fprintf(' \n')
16 Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
Series RLC Circuit with DC Excitation
We denote the first term as i 1 t = 115e –200t , the second term as i 2 t = 110e –300t , and the total
current i t as the difference of these two terms. The response is shown in Figure 1.6.
– 200 t – 300 t
i t = 115e – 110 e
– 300 t
i 2 t = 110e
Current (A)
– 200 t
i 1 t = 115e
Time (sec)
Figure 1.6. Plot for i t of Example 1.1
In the above example, differentiation eliminated (set equal to zero) the right side of the differen-
tial equation and thus the total response was just the natural response. A different approach how-
ever, may not set the right side equal to zero, and therefore the total response will contain both
the natural and forced components. To illustrate, we will use the following approach.
t
1
The capacitor voltage, for all time t, may be expressed as v C t = ---- i dt and as before, the cir-
C –
cuit can be represented by the integrodifferential equation
t
di 1
Ri + L ----- + ----
dt C
–
i dt = 15 u 0 t (1.18)
and since
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling 17
Copyright © Orchard Publications
Chapter 1 Second Order Circuits
dv
i = i C = C --------C-
dt
we rewrite (1.18) as 2
dv dv
RC --------C- + LC --------2C- + v C = 15 u 0 t (1.19)
dt dt
We observe that this is a nonhomogeneous differential equation whose solution will have both
the natural and the forced response components. Of course, the solution of (1.19) will give us the
capacitor voltage v C t . This presents no problem since we can obtain the current by differentia-
tion of the expression for v C t .
Substitution of the given values into (1.19) yields
2
50 dv dv
------ 10 –3 --------C- + 1 10 –3 100
--------- 10 –3 --------2C- + v C = 15 u 0 t
6 dt 6 dt
or 2
dv C dv 5
--------2- + 500 --------C- + 60000v C = 9 10 u 0 t (1.20)
dt dt
The characteristic equation of (1.20) is the same as of that of (1.11) and thus the natural response
is
s1 t s2 t – 200 t – 300 t
v Cn t = k 1 e + k2 e = k1 e + k2 e (1.21)
Since the right side of (1.20) is a constant, the forced response will also be a constant and we
denote it as v Cf = k 3 . By substitution into (1.20) we obtain
0 + 0 + 60000k 3 = 900000
or
v Cf = k 3 = 15 (1.22)
The total solution then is the summation of (1.21) and (1.22), that is,
– 200 t – 300 t
v C t = v Cn t + v Cf = k 1 e + k2 e + 15 (1.23)
As before, the constants k 1 and k 2 will be evaluated from the initial conditions. First, using
v C 0 = 2.5 V and evaluating (1.23) at t = 0 , we obtain
0 0
v C 0 = k 1 e + k 2 e + 15 = 2.5
or
k 1 + k 2 = – 12.5 (1.24)
Also,
dv dv i dv iL 0 5
i L = i C = C --------C- --------C- = ---L- and --------C- = -----------
- = -------------------------------
- = 300 (1.25)
dt dt C dt t=0
C 100 6 10
–3
18 Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
Series RLC Circuit with DC Excitation
From (1.24) and (1.27), we obtain k 1 = – 34.5 and k 2 = 22 . By substitution into (1.23), we obtain
the total solution as
– 300 t – 200 t
v C t = 22e – 34.5 e + 15 u 0 t (1.28)
Check with MATLAB:
syms t % Define symbolic variable t. Must have Symbolic Math Toolbox installed
y0=22*exp(300*t)34.5*exp(200*t)+15; % The total solution y(t)
y1=diff(y0) % The first derivative of y(t)
y1 = -6600*exp(-300*t)+6900*exp(-200*t)
y2=diff(y0,2) % The second derivative of y(t)
y2 = 1980000*exp(-300*t)-1380000*exp(-200*t)
y=y2+500*y1+60000*y0 % Summation of y and its derivatives
y = 900000
Using the expression for v C t we can find the current as
The same results are obtained with the Simulink/SimPowerSystems* model shown in Figure 1.8.
The waveforms for the current and the voltage across the capacitor are shown in Figure 1.9.
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling 19
Copyright © Orchard Publications
Chapter 1 Second Order Circuits
Voltage (V)
– 300 t – 200 t
v C t = 22 e – 34.5 e + 15 u 0 t
Time (sec)
Figure 1.7. Plot for v C t of Example 1.1
110 Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
Series RLC Circuit with DC Excitation
Example 1.2
For the circuit in Figure 1.10, i L 0 = 5 A , v C 0 = 2.5 V , and the 0.5 resistor represents the
resistance of the inductor. Compute and sketch i t for t 0 .
0.5 1 mH
vS
100 6 mF
it
whose solution consists of the summation of the natural and forced responses. We know its natu-
ral response from the previous example. We begin with
– 200 t – 300 t
i t = in t + if t = k1 e + k2 e + if t (1.31)
where the constants k 1 and k 2 will be evaluated from the initial conditions after i f t has been
found. The steady state (or forced) response will have the form i f t = k 3 cos 10 000t + in the
time domain ( t – domain ) and the form k 3 in the frequency domain ( j – domain ).
To find i f t we will use the phasor analysis relation I = V Z where I is the phasor current, V is
the phasor voltage, and Z is the impedance of the phasor circuit which, as we know, is
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling 111
Copyright © Orchard Publications
Chapter 1 Second Order Circuits
–1
1 1 2 1
Z = R + j L – -------- = R + L – -------- tan L – -------- R
2
(1.32)
C C C
Then,
1 2
= 0.5 = 0.25 and L – -------- = 10 – 6 10 = 99.88
2 2 –3 2
R
C
Also, –1 –3 –1
–1
1 10 – 6 10 9.994
tan L – -------- R = tan ------------------------------------ = tan -------------
C 0.5 0.5
and this yields = 1.52 rads = 87.15 . Then, by substitution into (1.32),
o o
Z = 0.25 + 99.88 = 10 87.15
and thus o
V 200 0 o o
I = ---- = ---------------------------o = 20 –87.15 20 cos 10000t – 87.15 = i f t
Z 10 87.15
As before, the constants k 1 and k 2 are evaluated from the initial conditions. From (1.33) and the
first initial condition i L 0 = 5 A we obtain
0 0 o
i 0 = k 1 e + k 2 e + 20 cos – 87.15 = 5
or
i 0 = k 1 + k 2 + 20 0.05 = 5
or
k1 + k2 = 4 (1.34)
We need another equation in order to compute the values of k 1 and k 2 . This equation will make
dv
use of the second initial condition, that is, v C 0 = 2.5 V . Since i C t = i t = C --------C- , we differ-
dt
entiate (1.33), we evaluate it at t = 0 , and we equate it with this initial condition. Then,
di
----- = – 200k 1 e –200 t – 300k 2 e –300 t – 2 10 5 sin 10000t – 87.15 o (1.35)
dt
112 Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
Series RLC Circuit with DC Excitation
and at t = 0 ,
di 6 o 5
----- = – 200k 1 – 300k 2 – 2 10 sin – 87.15 = – 200k 1 – 300k 2 + 2 10 (1.36)
dt t=0
Also, at t = 0 +
+ di +
Ri 0 + L ----- + v c 0 = 200 cos 0 = 200
dt +
t=0
– 300t
i 2 t = 42 e
i t
Current (A)
– 200t
i 1 t = – 38e
Time (sec)
Figure 1.11. Plot for i t of Example 1.2
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling 113
Copyright © Orchard Publications
Chapter 1 Second Order Circuits
The same results are obtained with the Simulink/SimPowerSystems model shown in Figure 1.12.
Figure 1.13. Waveform displayed in Scope 1 for the Simulink/SimPowerSystems model in Figure 1.12
114 Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
Parallel RLC Circuit
Figure 1.14. Waveform displayed in Scope 2 for the Simulink/SimPowerSystems model in Figure 1.12
iG iL iC
vt G L C
iS u0 t
By differentiation, 2
dv dv di
C -------2- + G ------ + --v- = ------S- t0 (1.40)
dt dt L dt
To find the forced response, we must first specify the nature of the excitation i S , that is DC or AC.
If i S is DC ( v S = cons tan t ), the right side of (1.40) will be zero and thus the forced response com-
ponent v f = 0 . If i S is AC ( i S = I cos t + , the right side of (1.40) will be another sinusoid and
therefore v f = V cos t + . Since in this section we are concerned with DC excitations, the
right side will be zero and thus the total response will be just the natural response.
The natural response is found from the homogeneous equation of (1.40), that is,
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling 115
Copyright © Orchard Publications
Chapter 1 Second Order Circuits
2
dv dv v
C -------2- + G ------ + --- = 0 (1.41)
dt dt L
whose characteristic equation is
Cs + Gs + --1- = 0
2
L
or
2 G i- = 0
s + ---- s + -------
C LC
from which
2
G G 1
s 1 s 2 = – ------- ---------2 – -------- (1.42)
2C 4C LC
and with the following notations,
G 1
P = ------- 0 = ------------ P =
2
P – 0
2
nP =
2
0 – P
2
2C LC
(1.43)
where the subscript p stands for parallel circuit, we can express (1.42) as
2 2 2 2
s 1 s 2 = – P P – 0 = – P P if P 0 (1.44)
or
2 2 2 2
s 1 s 2 = – P 0 – P = – P nP if 0 P (1.45)
Note: From (1.4), Page 13, and (1.43), Page 114, we observe that S P
As in the series circuit, the natural response v n t can be overdamped, critically damped, or
underdamped.
Case I: If 2P 20 , the roots s 1 and s 2 are real, negative, and unequal. This results in the over-
damped natural response and has the form
s1 t s2 t
vn t = k1 e + k2 e (1.46)
Case II: If 2P = 20 , the roots s 1 and s 2 are real, negative, and equal. This results in the criti-
cally damped natural response and has the form
–P t
vn t = e k1 + k2 t (1.47)
Case III: If 20 2P , the roots s 1 and s 2 are complex conjugates. This results in the under-
damped or oscillatory natural response and has the form
116 Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
Parallel RLC Circuit
–P t –P t
vn t = e k 1 cos nP t + k 2 sin nP t = k 3 e cos nP t + (1.48)
Example 1.3
For the circuit of Figure 1.16, i L 0 = 2 A and v C 0 = 5 V . Compute and sketch v t for t 0 .
iR iL iC
vt 32 10 H 1 640 F
10u 0 t A
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling 117
Copyright © Orchard Publications
Chapter 1 Second Order Circuits
and the constants k 1 and k 2 will be evaluated from the initial conditions.
The second equation that is needed for the computation of the values of k 1 and k 2 is found from
dv dv
the other initial condition, that is, i L 0 = 2 A . Since i C t = C --------C- = C ------ , we differentiate
dt dt
(1.50), we evaluate it at t = 0 + , and we equate it with this initial condition.Then,
dv dv
------ = – 4k 1 e –4 t – 16k 2 e –16 t and ------ = – 4k 1 – 16 k 2 (1.52)
dt dt +
t=0
+
Also, at t = 0
1- + + dv
--- v 0 + i L 0 + C ------ = 10
R dt +
t=0
Simultaneous solution of (1.51) and (1.54) yields k 1 = 291 6 , k 2 = – 261 6 , and by substitution
into (1.50) we obtain the total response as
291 –4 t 261 –16 t –4 t – 16 t
v t = v n t = --------- e – --------- e = 48.5e – 43.5 e V (1.55)
6 6
Check with MATLAB:
syms t % Define symbolic variable t. Must have Symbolic Math Toolbox installed
y0=291*exp(4*t)/6261*exp(16*t)/6; % Let solution v(t) = y0
118 Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
Parallel RLC Circuit
– 4t
v 1 t = 48.5 e
Voltage (V)
vt
– 16t
v 2 t = – 43.5 e
Time (sec)
Figure 1.17. Plot for v t of Example 1.3
From the plot of Figure 1.17, we observe that v t attains its maximum value somewhere in the
interval 0.10 and 0.12 sec., and the maximum voltage is approximately 24 V . If we desire to com-
pute precisely the maximum voltage and the exact time it occurs, we can compute the derivative
of (1.55), set it equal to zero, and solve for t . Thus,
dv –4 t – 16 t
------ = – 1164e + 4176e = 0 (1.56)
dt t=0
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling 119
Copyright © Orchard Publications
Chapter 1 Second Order Circuits
1.2775
t = t max = ---------------- = 0.106 s
12
By substitution into (1.55)
– 4 x0.106 – 16 x0.106
v max = 48.5e – 43.5 e = 23.76 V (1.57)
A useful quantity, especially in electronic circuit analysis, is the settling time, denoted as t S , and it
is defined as the time required for the voltage to drop to 1% of its maximum value. Therefore, t S
is an indication of the time it takes for v t to dampout, meaning to decrease the amplitude of
v t to approximately zero. For this example, 0.01 23.76 = 0.2376 V , and we can find t S by sub-
stitution into (1.55). Then,
– 4t – 16t
0.01v max = 0.2376 = 48.5e – 43.5e (1.58)
and we need to solve for the time t . To simplify the computation, we neglect the second term on
the right side of (1.58) since this component of the voltage damps out much faster than the other
component. This expression then simplifies to
–4 ts
0.2376 = 48.5e
or
– 4 t S = ln 0.005 = – 5.32
or
t S = 1.33 s (1.59)
Example 1.4
For the circuit of Figure 1.18, i L 0 = 2 A and v C 0 = 5 V , and the resistor is to be adjusted so
that the natural response will be critically damped.Compute and sketch v t for t 0 .
iR iL iC
vt 10 H 1 640 F
10u 0 t A
120 Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
Parallel RLC Circuit
2-
1- = 8 -------- 1-
--- = -----
R 640 40
or R = 40 and thus s 1 = s 2 = – P = – 8 . The natural response will have the form
–P t – 8t
v t = vn t = e k 1 + k 2 t or v t = v n t = e k 1 + k 2 t (1.60)
As before, we need to compute the derivative dv dt in order to apply the second initial condition
and find the value of the constant k 2 .
We obtain the derivative using MATLAB as follows:
syms t k2; v0=exp(8*t)*(5+k2*t); v1=diff(v0); % v1 is 1st derivative of v0
% Must have Symbolic Math Toolbox installed
v1 = -8*exp(-8*t)*(5+k2*t)+exp(-8*t)*k2
Thus,
dv
------ = – 8e –8t 5 + k 2 t + k 2 e –8t
dt
and
dv
------ = – 40 + k 2 (1.63)
dt t=0
dv i
Also, i C = C ------ or dv
------ = ---C- and
dt dt C
+ + +
dv iC 0 IS –iR 0 – iL 0
------ = --------------
- = ------------------------------------------- (1.64)
dt +
C C
t=0
or
dv IS – vC 0 R – iL 0 10 – 5 40 – 2 7.875
------ = -------------------------------------------------- = ------------------------------- = ---------------- = 5040 (1.65)
dt t=0
C 1 640 1 640
– 40 + k 2 = 5040
or
k 2 = 5080 (1.66)
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling 121
Copyright © Orchard Publications
Chapter 1 Second Order Circuits
Time (sec)
Figure 1.19. Plot for v t of Example 1.4
By inspection of (1.67), we see that at t = 0 , v t = 5 V and thus the second initial condition is
satisfied. We can verify that the first initial condition is also satisfied by differentiation of (1.67).
We can also show that v t approaches zero as t approaches infinity with L’Hôpital’s rule, i.e.,
d-
---- 5 + 5080t
– 8t 5 + 5080t dt 5080
lim v t = lim e 5 + 5080t = lim ---------------------------
- = lim --------------------------------- = lim -----------
- = 0 (1.68)
t t t e
8t t d
----- e 8t t 8e
8t
dt
Example 1.5
For the circuit of Figure 1.20, i L 0 = 2 A and v C 0 = 5 V . Compute and sketch v t for t 0 .
122 Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
Parallel RLC Circuit
iR iL iC
vt 50 10 H 1 640 F
10u 0 t A
Figure 1.20. Circuit for Example 1.5
Solution:
This is the same circuit as the that of the two previous examples except that the resistance has
been increased to 50 . For this example,
G- = ----------
P = ------ 1 - = ------------------------------------
1 - = 6.4
2C 2RC 2 50 1 640
or 2
P = 40.96
and as before,
2 1 1
0 = -------- = ---------------------------- = 64
LC 10 1 640
Since v f = 0 , the total response is just the natural response. Then, from (1.48),
–P t – 6.4t
v t = v n t = ke cos nP t + = ke cos 4.8t + (1.69)
and the constants k and will be evaluated from the initial conditions.
From the initial condition v C 0 = v 0 = 5 V and (1.69) we obtain
0
v 0 = ke cos 0 + = 5
or
k cos = 5 (1.70)
To evaluate the constants k and we differentiate (1.69), we evaluate it at t = 0 , we write the
equation which describes the circuit at t = 0 + , and we equate these two expressions. Using MAT-
LAB we obtain:
syms t k phi; y0=k*exp(6.4*t)*cos(4.8*t+phi); y1=diff(y0)
% Must have Symbolic Math Toolbox installed
y1 = -32/5*k*exp(-32/5*t)*cos(24/5*t+phi)
-24/5*k*exp(-32/5*t)*sin(24/5*t+phi)
pretty(y1)
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling 123
Copyright © Orchard Publications
Chapter 1 Second Order Circuits
dv i
Also, i C = C ------ or dv
------ = ---C- and
dt dt C
+ + +
dv iC 0 IS –iR 0 – iL 0
------ = --------------
- = ------------------------------------------
-
dt +
C C
t=0
or
dv IS – vC 0 R – iL 0 – 5 50 – 2- = 7.9 640 = 5056
------ = -------------------------------------------------- = 10
------------------------------ (1.73)
dt t=0
C 1 640
Equating (1.72) with (1.73) we obtain
– 32 – 4.8k sin = 5056
or
k sin = – 1060 (1.74)
The phase angle can be found by dividing (1.74) by (1.70). Then,
k sin = tan = –
--------------- 1060- = – 212
--------------
k cos 5
or –1
= tan – 212 = – 1.566 rads = – 89.73 deg
The value of the constant k is found from (1.70) as
k cos – 1.566 = 5
or
5
k = ------------------------------ = 1042
cos – 1.566
and by substitution into (1.69), the total solution is
– 6.4t
v t = 1042e cos 4.8t – 89.73 (1.75)
The plot is shown in Figure 1.21.
124 Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
Parallel RLC Circuit
Voltage (V)
Time (sec)
Figure 1.21. Plot for v t of Example 1.5
From the plot of Figure 1.21 we observe that the maximum value occurs somewhere between
t = 0.10 sec and t = 0.20 sec , while the minimum value occurs somewhere between t = 0.73 sec
and t = 0.83 sec . Values for the maximum and minimum accurate to 3 decimal places are deter-
mined with the MATLAB script below.
fprintf(' \n');
disp(' t Vc');
disp('-----------------');
t=0.10:0.01:0.20; Vc=zeros(11,2); Vc(:,1)=t';
Vc(:,2)=1042.*exp(6.4.*t).*cos(4.8.*t87.5*pi./180);
fprintf('%0.2f\t %8.3f\n',Vc')
t Vc
-----------------
0.10 274.736
0.11 278.822
0.12 280.743
0.13 280.748
0.14 279.066
0.15 275.911
0.16 271.478
0.17 265.948
0.18 259.486
0.19 252.242
0.20 244.354
fprintf(' \n');
disp(' t Vc');
disp('-----------------');
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling 125
Copyright © Orchard Publications
Chapter 1 Second Order Circuits
Alternately, we can find the maxima and minima by differentiating the response of (1.75) and set-
ting it equal to zero.
Example 1.6
For the circuit of Figure 1.22, i L 0 = 2 A and v C 0 = 5 V . Compute and sketch v t for t 0 .
126 Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
Parallel RLC Circuit
iR iL iC
vt 50 10 H 1 640 F
iS
This is the same circuit as the previous example where the DC source has been replaced by an AC
source. The total response will consist of the natural response v n t which we already know from
the previous example, and the forced response v f t which is the AC steadystate response, will be
found by phasor analysis.
The t – domain to j – domain j transformation yields
i s t = 20 sin 6400t + 90 = 20 cos 6400t I = 20 0
The admittance Y is
–1
1 1 2 1
Y = G + j C – -------- = G + C – -------- tan C – -------- G
2
L L L
where
1- = ----- 1-
1- , C = 6400 -------- 1 1 - = --------------
1 -
G = --- = 10 and -------- = -----------------------
R 50 640 L 6400 10 64000
and thus
1 2 1 2 –1
1 1
Y = ----- - tan 10 – --------------- ------ = 10 89.72
- + 10 – --------------
50 64000 64000 50
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling 127
Copyright © Orchard Publications
Chapter 1 Second Order Circuits
0
v 0 = v C 0 = ke cos + 2 cos – 89.72 = 5
or
k cos 5 (1.77)
To make use of the second initial condition, we differentiate (1.76) using MATLAB as follows,
and then we evaluate it at t = 0 .
syms t k phi; y0=k*exp(-6.4*t)*cos(4.8*t+phi)+2*cos(6400*t-1.5688); % Must have Sym Math
y1=diff(y0); % Differentiate v(t) of (1.76)
y1 = -32/5*k*exp(-32/5*t)*cos(24/5*t+phi)-24/5*k*exp(-32/
5*t)*sin(24/5*t+phi)-12800*sin(6400*t-1961/1250)
or
dv
------ = – 6.4ke
– 6.4t
cos 4.8t + – 4.8ke
– 6.4t
sin 4.8t + – 12800 sin 6400t – 1.5688
dt
and
dv
------ = – 6.4k cos – 4.8k sin – 12800 sin – 1.5688
dt t=0 (1.78)
= – 6.4k cos – 4.8k sin + 12800
With (1.77) we obtain
dv
------ = – 32 – 4.8k sin + 12800 – 4.8k sin + 12832 (1.79)
dt t=0
dv i
Also, i C = C ------ or dv
------ = ---C- and
dt dt C
+ + + +
dv iC 0 iS 0 –iR 0 – iL 0
------ = --------------
- = -----------------------------------------------------
-
dt +
C C
t=0
or +
dv iS 0 – vC 0 R – iL 0 20 – 5 50 – 2- = 11456
------ = ------------------------------------------------------------
- = ------------------------------ (1.80)
dt t=0
C 1 640
128 Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
Parallel RLC Circuit
The same results are obtained with the Simulink/SimPowerSystems model shown in Figure 1.24.
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling 129
Copyright © Orchard Publications
Chapter 1 Second Order Circuits
Example 1.7
The circuit of Figure 1.26 a known as a Multiple Feed Back (MFB) active lowpass filter. For this
circuit, the initial conditions are v C1 = v C2 = 0 . Compute and sketch v out t for t 0 .
40 k R2 C2 10 nF
R1 50 k
+ v1 R v2
200 k 3 +
vin vout
C1 25 nF
130 Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
Other Second Order Circuits
1
----- 1 1 dv 1 1
- + ------ + ------ v 1 + C 1 --------1 – ------ v out = ------ v in (1.84)
R1 R2 R3 dt R 2 R1
and
dv out
v 1 = – R 3 C 2 -----------
- (1.85)
dt
Differentiation of (1.86) yields 2
dv dv out
--------1 = – R 3 C 2 -------------
2
- (1.86)
dt dt
and by substitution of given numerical values into (1.85) through (1.87), we obtain
1 - + -----------------
----------------- 1 - v + 25 10 –9 dv
1 - + ----------------- 1 -
--------1 – ----------------- 1
v out = ------------------5 v in
2 10 5 4 10 4 5 10 4 1 dt 4 10 4
2 10
or
–3 –9 dv 1
0.05 10 v 1 + 25 10 -------- – 0.25 10 –4 v out = 0.5 10 –5 v in (1.87)
dt
– 4 dv out
v 1 = – 5 10 -----------
- (1.88)
dt
2
dv – 4 d v out
--------1 = – 5 10 -------------
2
- (1.89)
dt dt
Next, substitution of (1.89) and (1.90) into (1.88) yields
2
– 4 dv out d v out
0.05 10 – 5 10 -----------
–3
- + 25 10 –9 – 5 10 –4 -------------
- (1.90)
dt dt
2
–4 –5
– 0.25 10 v out = 0.5 10 v in
or 2
– 13 d v out – 7 dv out
– 125 10 -------------- - – 0.25 10 –4 v out = 10 –4 v in
– 0.25 10 -----------
dt
2 dt
Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling 131
Copyright © Orchard Publications
Chapter 1 Second Order Circuits
We cannot classify the given circuit as series or parallel and therefore, we should not use the
damping ratio S or P . Instead, for the natural response v n t we will use the general expression
s1 t s2 t – t
v n t = Ae + Be = e k 1 cos t + k 2 sin t (1.92)
where
s 1 ,s 2 = – j = – 1000 j1000
132 Circuit Analysis II with MATLAB Computing and Simulink / SimPowerSystems Modeling
Copyright © Orchard Publications
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