USEFUL INTEGRALS fudv =u — fodu dx foSo-t sit Lye @+eyP a Psivtarde = © ~ S824 2 4a in 2ar cos? ax dr = = feos? ax = fxsinax da in ax — ax cosaz} @ 1 : f reosax dx = alco a +axsinaz) 2 = a?x? 2G Qn fe sinae dr = = sinaz + cosaz a Qn frrcosax dr = = cosar — z oa fem sinbrde = 3 (asin bx — bcos bar) a e e+P fe cosbrdz (acos ba + bsinbz) weedy ett ; 2B Je sin” be der = aa (cosines 2beosbe) sinbr + — Se cost be de = =, ((acos be = 2bsinbe) cos be + we ~ ab + ae @ oo _ sina —b)e sinat be J sinaiesin ba de = SO - So a ae _ sinfa- bx sina@+b)r Seosaxcosbe de = SE + So A . _ cosa bye costa te og ge J sin ax cos bar dar = a= 7 arm 7 Srerde = Sor - 1) eo f Petde = (072? — 2ax +2)fg sinmesinnedz = J cosmrcosnzdz=0, m#n, mand n integers mo _ {9 m+neven Jo" sin ma-cos na dr = {Sha jcnt m+nodd fe ae = a ane * -1/2, a<0 USEFUL TRIGONOMETRIC IDENTITIES sin(a +90°) = + cosa cos(a + 90°) = F sina sin(a + 8) = cos(a + 8) = cos acos 6 ¥ sinasin 8 inacos 8 + cosasing sina sin B = 4[cos(a — 8) — cos(a + )} cos acos 3 = S[cos(a + A) + cos(a ~ 3)} sinacos 8 = 3{sin(a + 3) + sin(a — 8)] sina + sin = 2sin 28 og 9= 8 2 2 sina sin = 2cos 744 sin 28 2 2 coser+ 6058 = 205 259 cos cosa ~ cos f= ~2sin 245 sin 8 Acosa + Bsina = VA? + B? cosfa + tan--B/A)] sin2a = 2sin acosa cos 2a = 2cos?a — 1 = 1 — 2sin’?a si @ = 31 —cos2a) cos? a = 4(1 + cos 2a) cosa = 1/VT+ ana sina = (e?® — €-99)/52 cosa = (e!% + e7I9)/2 e83" = cosa t jsinaELECTRIC CIRCUITS FUNDAMENTALS SERGIO FRANCO San Francisco State University ep |PA] 195% * SAUNDERS COLLEGE PUBLISHING Harcourt Brace College Publishers Fort Worth Philadelphia San Diego New York Orlando Austin San Antonio Toronto. Montreal London Sydney TokyoCopyright ©) 1995 by Saunders College Publishing All rights reserved. No part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage or retrieval system, without permission in wi ing from the publisher. Requests for permission to make copies of any part of the work should be mailed to Permissions Department, Harcourt Brace & Company, 6277 Sea Harbor Drive, Orlando, Florida 32887 Text Typeface: Times Roman ‘Compositor: Electronic Technical Publishing Services Executive Editor: Emily Barrosse Developmental Editor: Alexa Bares Managing Editor: Carol Field Project Editor: Anne Gibby Copy Editor: Andrew Potter Manager of Art and Design: Carol Bleistine Ant Director; Anne Muldrow Art and Design Coordinator: Susan Blaker, Susan Kinney Text Designer: Nanci Kappel Cover Designer: Lawrence Didona Text Antwork: Grafacon Director of EDP: Tim Frelick Production Manager: Joanne Cassetti Marketing Manager: Monica Wilson Cover Credit: Dominique Sarraute/The Image Bank Printed in the United States of America Electric Circuits Fundamemals ISBN: 0-03-072307-8 Library of Congress Catalog Card Number: 93-084360 4567890123 069 10 987654321 ber raran yar IT UB arp + mame ap ad. is ee ee . qe a Fra . rs 1 Bee oP FLY 22 RY9Seu 7For My Mother and Father Vigiuta Braidota and Gigi MulindrFOREWORD erhaps the most important of the electrical en- gineering curriculum, the circuits course serves many purposes. First and foremost, it presents electrical and computer engineering students with a subject fundamental to their chosen discipline. Circuit theory is a subject of intrinsic beauty, which, if properly taught, can excite and motivate the student. Al- though based on the laws of physics, circuit theory need not deal with the non-idealities of practical electrical el- ements, at least not initially. Rather, circuit theory pro- vides the abstraction that future electrical engineers need to deal with practical circuits and systems at a higher, conceptual level, somewhere between physics and math- ematics. Second, the circuits course has an immediate util- itarian value: It is required to prepare the students for the study of electronic circuits. In most electrical and computer engineering curricula, the first course in elec- tronics occurs immediately following the circuits course and relies heavily on the techniques of circuit analysis jearned in the circuits course. This dual role of the circuits course—laying one of the important theoretical foundations of electrical engineering and teaching practical circuit analysis tech- niques—makes for not just an important subject but also one that is somewhat difficult to teach. Sergio Franco's Electric Circuits Fundamentals docs an outstanding job of fulfilling this role. it strikes an appropriate balance between the abstractions necessary for the proper un- derstanding of circuit theory and the specifics needed to master the techniques of circuit analysis. The author accomplishes this difficult task by drawing on his ex- tensive experience both as a circuit designer and as an educator of electrical engineering. The result is a pre- sentation that moves from the practical to the theoretical and back to the practical with ease and elegance. It does so while keeping the student motivated and eager to learn the theory, for the application is always in sight and the pay-off appears to be substantial. A third purpose of the circuits course is introducing the student to the language and symbolism of electri- cal engineering. Here again Franco does an excellent job. He utilizes the pictorial nature of circuits to the ut- most advantage, illustrating difficult concepts with clear and extensive diagrams and instilling in the student the habit of sketching correct diagrams to represent various circuits situations. From the vantage point of a long-time teacher of electronic circuits and researcher in theory and design of circuits, I found Franco's text to combine the funda- mentals of circuit theory with the intuition and insight required for circuit design. For this reason, I believe that Electric Circuits Fundamentals should make an excellent text for the electric circuits course and I am pleased to recommend it for this purpose. Adel S. Sedra Toronto, Canada July 1994 viiPREFACE his book is designed to serve as a text for the first course or course sequence in circuits in an electrical engineering curriculum. The prereq- uisites or corequisites are basic physics and cal- culus. Special topics such as differential equations and complex algebra are treated in the text as they arise. It can be used in a two-semester or a three-quarter course sequence, or in a single-semester course. The goal of the book is twofold: (a) to teach the foundations of electric circuits, and (b) to develop a thinking style and a problem-solving methodology based on physical insight. This approach is designed to benefit students not only in the rest of the curriculum, but also in the rapidly changing technology that they will face after graduation. Since the study of circuits is the foundation for most other courses in the electrical curriculum, it is critical that we guide the reader in developing an engineering approach from the very beginning. Armed, on the one hand, with the desire to finally apply the background of prerequisite math courses, and overwhelmed, on the other, by the novelty and wealth of the subject mat- ter, students tend to focus on the mathematics govern- ing a circuit without developing a feel for its physical operation. After all, circuit theory has a mathemati- cal beauty of its own, and many a textbook empha- sizes its abstract aspects without sufficient attention to its underlying physical principles, not to mention appli- cations. Quite to the contrary, we believe that the role of a circuits course is to provide an engineering balance between mathematical conceptualization and physical insight. Whether analyzing existing circuits or design- ing new ones, engineers start from a physical basis and resort to mathematical tools only to gain a deeper and more systematic understanding, But, in the true spirit of engineering, results are ultimately checked against physical substance, not mere mathematical abstraction. This is especially true in computer-aided analysis and design, where results must be interpreted in terms of known physical behavior. Students who are not given an early opportunity to develop physical intuition will subsequently have to do so on their own in order to function as engineers. This book was written to provide this early opportunity without necessarily watering down the mathematical rigor. As an enthusiastic practitioner of circuit theory, the author firmly believes that a circuits course should be accompanied by a laboratory to provide experimental reinforcement of the theory as well as to introduce the student to instrumentation and measurement, Whenever the opportunity arises we attempt to relate concepts and principles to laboratory practice, but we do so without disrupting the flow of the material. Lacking a labora- tory, the use of SPICE should be promoted as a software breadboard alternative for trying out the circuits seen in class. Moreover, the Probe graphics post-processor available with PSpice provides an effective form of soft- ware oscilloscope for the visualization of waveforms and transfer curves. Ultimately, however, the student must be stimulated to interpret SPICE results in terms of known physical behavior. PEDAGOGY AND APPROACH The material covered is fairly standard in terms of topic selection. To prevent excessive conceptualization from obfuscating the physical picture, we try to be as math- ematically rigorous as needed. Moreover, to maintain student interest and motivation, we attempt, wheneverx Preface possible, to relate the theory to real-life situations, In this respect we introduce ideal transformers and ampli- fiers eatly enough to stimulate the reader with a fore- taste of engineering practice. We also make extensive use of the operational amplifier to provide a practical illustration of abstract but fundamental concepts such as impedance transformation and root location control, always with a vigilant eye on the underlying physical ba- sis. To this end, we often draw analogies to nonelectrical systems such as mechanical and hydraulic systems. To comply with ABET's emphasis on integrating computer tools in the curriculum, the book promotes the use of SPICE as a means for checking the results of hand calculations. The features of SPICE are intro- duced gradually, as the need arises. We have kept SPICE coverage separate from the rest of the material, in end- of-chapter sections that can be omitted without loss of continuity. Each chapter begins with an introduction outlining its objectives and its relation to the rest of the subject matter, and it ends with a summary of its key points. Whenever possible, chapters and sections have been de- signed to proceed from the elementary to the more com- plex. Subjects preceded by the symbol © are optional and may be skipped without loss of continuity. The text is interspersed with 351 worked examples, 402 exercises, and 1000 end-of-chapter problems. The goal of the examples is not only to demonstrate the di- rect application of the theory, but also to develop an engineering approach to problem solving based on con- ceptual understanding and physical intuition rather than on rote procedures, We feel that if we help the student identify a core of basic principles and a common thread of logic, the student will in turn be able to apply these Principles and logic to the solution of a wide range of new and more complex problems. In solving the numerous examples, we stress the importance of labeling, inspection, physical dimensions, and checking, and we highlight critical points by means of remarks. Students are continually challenged to ques- tion whether their findings make physical sense, and to use alternative approaches to check the correctness of their results, The exercises are designed to provide immediate reinforcement of the student's grasp of principles and methods, and the end-of-chapter problems are designed to offer additional practice opportunities, For the con- venience of students and instructors alike, the problems have been keyed to individual sections. To give students a better appreciation for the hu- man and historical sides of electrical engineering, each chapter contains an essay or interview. Subjects include biographies of famous inventors, interviews with well- established electrical engineers and recent graduates, and topics of current interest, ConTENT Following is a course content description. Additional details and rationale considerations can be found in the introductions to the individual chapters. Chapters 1-4 introduce basic circuit concepts, the- orems, and analysis techniques for circuits consisting of resistances and independent sources, Dependent sources and energy-storage elements have been deferred to later chapters because we believe that the student should first develop an intuitive feel for simpler circuits. ‘To facili- tate this task we have tried to contain circuit complexity, but without sacrificing generality. In fact, many of the circuits and procedures are of the type practicing engi- neers see every day. Anticipating a concurrent laboratory, we introduce basic signal concepts such as average and rms values early in the book. The emphasis on i-v curves to charac- terize not only individual elements but also one-ports is designed to provide a more intuitive framework for Thévenin and Norton theorems. Much emphasis: is placed on the concepts of equivalence, modeling, load- ing, and the use of test sources to find equivalent re- sistances. The analytical advantages of circuit theorems are demonstrated with one-ports driving linear as well as nonlinear loads such as diodes and diode-connected BJTs and MOSFETs. However, this brief exposure [0 nonlinear techniques, designed to provide also a foretaste of electronics, can be omitted without loss of continuity. Chapter 5 discusses dependent sources and their application to the modeling of simple two-ports such as ideal transformers and amplifiers. This material is de- signed to motivate the reader with practical applications and also to provide further opportunities for practicing with the analytical tools of the previous chapters. Ad- ditional applications are presented in Chapter 6, but using the op amp as a vehicle. We have chosen basic instrumentation circuits that are of potential interest to EE majors and nonmajors alike, and that can easily be tried out in the lab or simulated via PSpice.Chapters 7-9 deal with the time-domain analysis of circuits containing energy-storage elements, The dis- cussion of the natural response emphasizes energetic considerations. The complete response is investigated via the integrating factor method in order to provide a rigorous treatment of its natural, forced, transient, de steady-state, and ac steady-state components. Chapter 8 deals with the transient response of first-order circuits, including switched networks and the step, pulse, and pulse-train responses of RC and RL pairs; Chapter 9 investigates transients in RLC and other second-order circuits. Significant attention is devoted to correlating re- sponse characteristics to root location in the s plane. In this respect, we demonstrate the use of the op amp to ef- fect root location control both for first-order and second- order circuits, and we investigate the physical basis of converging, steady, and diverging responses. We feel that combining simple physical insight with the pictorial immediacy of s-plane diagrams should help demystify the material in anticipation of the network functions and transform theory of subsequent chapters. However, de- pending on curricular emphasis, the s-plane material can be omitted without loss of continuity. Chapters 10-13 cover ac circuits, After introduc- ing phasors as graphic means to emphasize amplitude and phase angle, we use time-domain techniques to de- velop a basic understanding of ac circuit behavior, es- pecially the frequency response and its relationship to the transient response. Then, we develop phasor tech- niques and the concept of ac impedance to investigate ac power, polyphase systems, and ac resonance, and to illustrate practical applications thereof. To provide the reader with a foretaste of electronics, we now use the op amp to demonstrate impedance transformations as well as resonant characteristics control in inductorless cit- cuits; but, again, this material can be omitted without loss of continuity. Recognizing the difficulties encountered by the be- ginner in trying to reconcile complex variables and phys- ical circuits, we use the correspondences dx/dt ++ joX and fxdt <> X/jw to introduce phasor algebra from a time-domain perspective, and we develop the subject from a decidedly circuital viewpoint. Moreover, we give equal weight to single-frequency phasor analysis for ac power and variable-frequency analysis for communica- tion and signal processing. Chapter 14 generalizes ac techniques to network- function techniques in order to provide a unified ap- Preface xi proach to the study of the natural, forced, transient, steady-state, and complete response, as well as the fre- quency response. The physical significance of zeros and poles is investigated in depth, along with the effect of their s-plane location upon the characteristics of the var- ious responses. The chapter emphasizes dimensional and asymptotic verifications, and provides an exhaustive treatment of Bode diagrams, including the use of PSpice to generate frequency plots of network functions. ‘We have chosen to introduce network functions via complex exponential signals, rather than via Laplace transforms, to comply with the many curricula that defer Laplace to courses other than circuits courses. But, if desired, one can rearrange the material by omitting the first part of Chapter 14 and appending the remainder to the end of Chapter 16, which covers Laplace transforms. Chapter 15 discusses nvo-port networks, and it ap- plies the two-port concept as well as network-function techniques to the study of coupled coils. Two-port mea- surements and modeling are illustrated via a variety of examples, including transistor amplifiers and linear trans- formers. Chapters 16 and 17 provide an introduction to La- place and Fourier techniques. True to our intent to proceed from the elementary to the more complex, we present the Laplace approach as a generalization of the network-function approach of Chapter 14. Using a va- riety of examples, we demonstrate its ability to accom- modate a wider range of forcing functions, to account for the initial conditions automatically, and to provide a more systematic link between the time-domain and the frequency-domain behavior of a circuit via the initial- value and final-value theorems, the impulse response, and convolution. The treatment stresses the physical ba- sis of the step and impulse responses, and of the natural and forced response components. Fourier techniques are presented as a better alterna- tive to Laplace techniques in those situations in which the focus is on the information and energy content of a signal as well as the manner in which a circuit processes this content. Though some authors introduce Fourier before Laplace, our desire to emphasize Laplace as a circuit analysis tool and Fourier as a signals processing tool has led us to introduce Laplace first, as a general- ization of the network-function method. Moreover, even though the Fourier transform could be introduced on its own terms, we find it physically more enlightening—if mathematically somewhat less rigorous—to introduce it as a limiting case of the Fourier series.xii Preface Applications of both the Fourier series and trans- form are demonstrated via a variety of signal and circuit examples emphasizing inpur and output spectra. More- over, the effects of filtering are illustrated both in the time domain and the frequency domain. We conclude with practical comparisons of the Laplace and Fourier transforms. Course Options This book can be used in a two-semester or a three- quarter course sequence, or in a single-semester course, In a fwo-semester sequence the first semester typi- cally covers the material up to ac power (Section 12.2), and the second semester covers the remainder of the text. In a three-quarter sequence the material can be subdivided as follows: Chapters 1-8, Chapters 9-14, and Chapters 15-17. For a single-semester course we identify two op- tions: An option emphasizing analytical techniques and covering approximately the same material as the first course of the two-semester sequence; an option empha- sizing specialized areas and thus including specific chap- ters or sections. An emphasis in power would include Section 5.3, all of Chapter 12, and the second half of Chapter 15; an emphasis in electronics would include Section 5.4, Chapter 6, and parts of Chapter 14; an em- phasis in systems would include Chapters 8, 9, 14, 16, and 17, To facilitate omissions without loss of conti- nuity, the optional material identified by the symbol © usually appears at the end of sections or chapters. SUPPLEMENTS The following aids for instructor and student are avail- able from the publisher. Student SPICE Manual by James $. Kang (Cal- ifornia Polytechnic State University—Ponoma) intro- duces students to SPICE commands and programming and includes numerous examples, exercises, and prob- lems tied to the text. It is available for purchase by students. Student Problems Book by Reza Nahvi and Michael Soderstrand (University of California—Davis) is also available for purchase. It contains about 600 problems arranged by chapter to help students practice and develop their problem-solving skills. About 15% of the problems require students to use SPICE. Complete solutions for all problems are included. Instructor’s Manual contains complete solutions for all exercises and end-of-chapter problems in the text, Transparency Pack contains transparency masters of the most important figures and graphs in the text to help instructors prepare their lectures. ACKNOWLEDGMENTS The development of this text has involved a thorough program of reviewing, for both pedagogical and topi- cal content as well as for accuracy. Many colleagues were involved in this process. Their contributions are gratefully acknowledged: Douglas B. Brumm, Michigan Technological University Arthur R. Butz, Northwestern University Peter Dorato, University of New Mexico John A. Fleming, Texas A&M University Gary E. Ford, University of California—Davis William J. Jameson, Jr., Montana State University Bruce E. Johansen, Ohio Northern University James S. Kang, California Polytechnic State University—Pomona Robert F. Lambert, University of Minnesota Robert J. Mayhan, The Ohio State University Mahmood Nahvi, California Polytechnic State University, San Luis Obispo Many thanks to the focus group participants for their helpful suggestions: Roger Conant, University of Illinois—Chicago Ibrahim Hajj, University of Hlinois—Urbana Sayfe Kiaei, Oregon State University Michael Lightner, University of Colorado Hari Reddy, California State University—Long Beach Michael Soderstrand, University of California—Davis The accuracy of the examples, exercises, and prob- Jems was carefully checked during manuscript, galleys, and page proof stages by James Kang (California Poly- technic State University—Pomona), Mahmood Nahvi (California Polytechnic State University—San Luis Obispo), and James Rowland (University of Kansas). ‘Their careful and diligent work is greatly appreciated. In addition, I wish to thank Adel Sedra of the Uni- versity of Toronto for his encouragement and guidance, and Irene Nunes for her research and writing of the his- torical and biographical essays. 1 am grateful for the help and dedication of the Saunders staff, especiallyEmily Barrosse, Executive Editor; Alexa Barnes, Devel- opmental Editor; Anne Gibby, Project Editor; Anne Muldrow, Art Director; Susan Blaker, Art Director; and Monica Wilson, Marketing Manager. My gratitude goes also to my colleagues T. Holton and W. Stadler at San Francisco State University for their stimulating discus- Preface xiii sions, and to my wife Diana for her encouragement and steadfast support. Sergio Franco San Rafael, California July 1994BRIEF TABLE OF CONTENTS xiv CHAPTER 1 CHapTER 2 CHAPTER 3 CHAPTER 4 Cuapter 5 CHAPTER 6 CHAPTER 7 CuapTER 8 Cwapter 9 - Cuaprer 10 CHAPTER 11 CHAPTER 12 CHAPTER 13 CHAPTER 14 CHAPTER 15 CHAPTER 16 CHAPTER 17 Basic Concepts 1 Resistive Circuits 50 CIRCUIT ANALYSIS TECHNIQUES 96 CircuIT THEOREMS AND POWER CALCULATIONS 147 TRANSFORMERS AND AMPLIFIERS 198 OPERATIONAL AMPLIFIERS 245 ENERGY STORAGE ELEMENTS 286 TRANSIENT RESPONSE OF FIRST-ORDER Circuits 326 TRANSIENT RESPONSE OF SECOND-ORDER Circuits 377 AC Response 420 AC Cincurt ANALYSIS 456 AC POWER AND THREE-PHASE SYSTEMS 519 AC RESONANCE 576 NETWoRK FUNCTIONS 605 Two-Port NETworKs AND COUPLED Cols 678 THE LAPLACE TRANSFORM 739 FOURIER ANALYSIS TECHNIQUES 813 APPENDICES A-1 ANSWERS TO ODD-NUMBERED PROBLEMS ANS-1 INDEX 1-1CONTENTS CHAPTER 14 Basic Concepts Units and Notation Electric Quantities Electric Signals Electric Circuits Kirchhoff's Laws Circuit Elements Sources Summary Problems A Conversation with Burks Oakley II, University of Hlinois, Urbana-Champaign Resistance Series/Parallel Resistance Combinations Voltage and Current Dividers Resistive Bridges and Ladders Practical Sources and Loading Instrumentation and Measurement Summary Problems Famous Scientists—Thomas Alva Edison 50 50 57 n 80 85 a1 9 74vi Contents CHAPTER 42 © 43 44 Circuit Solution by Inspection Nodal Analysis Loop Analysis Linearity and Superposition Source Transformations Circuit Analysis Using SPICE Summary Problems Essay: What Can I Do? CincuiT THEOREMS AND POWER CALCULATIONS One-Ports Circuit Theorems Nonlinear Circuit Elements Power Calculations Circuit Analysis Using SPICE Summary Problems A Conversation with Jack Kilby, Texas Instruments cuarren OY TRANSFORMERS AND AMPLIFIERS 51 5.2 5.3 5.4 5.5 Dependent Sources Circuit Analysis with Dependent Sources The Ideal Transformer Amplifiers Cireuit Analysis Using SPICE Summary Problems Famous Scientists—Lee De Forest, the Father of Radio 96 o7 103 112 120 129 133 140 142 126 147 148 161 173 179 188 193 194 162 198 199 208 219 227 234 239 240 206Contents OPERATIONAL AMPLIFIERS The Operational Amplifier Basic Op Amp Configurations Ideal Op Amp Circuit Analysis Summing and Difference Amplifiers Transresistance, Transconductance, and Current Amplifiers Op Amp Circuit Analysis Using SPICE Summary Problems Rolls of Honor Capacitance Inductance Natural Response of RC and RL Circuits Responses to DC and AC Forcing Functions Summary Problems A Conversation with Oscar Garcia, National Science Foundation TRANSIENT RESPONSE OF FiRST-ORDER CIRCUITS Basic RC and RL Circuits Transients in First-Order Networks Step, Pulse, and Pulse-Train Responses First-Order Op Amp Circuits ‘Transient Analysis Using SPICE Summary Problems Famous Physicists—John Bardeen conor TRANSIENT RESPONSE OF SECOND-ORDER CIRCUITS 91 Natural Response of Series and Parallel RLC Circuits 9.2 Transient Response of Second-Order Circuits wii 245 246 248 258 262 268 274 279 280 252 286 287 300 313 320 321 292 326 327 338 348 356 363 370 371 332 377 378 392xviii Contents 9.3 9.4 95 Step Response of Second-Order Circuits Second-Order Op Amp Circuits Transient Analysis Using SPICE Summary Problems A Real Horse Race: The Invention of Television cuarren OY AC RESPONSE 10.1 10.2 10.3 10.4 CHAPTER 11.1 11.2 113 11.4 11.5 CHAPTER 121 12.2 12.3 12.4 Sinusoids and Phasors AC Response of the Basic Elements AC Response of First-Order Circuits AC Response of Second-Order Circuits Summary Problems A Conversation with Socorro Curiel, Pacific Bell AC Circuit ANALysis Phasor Algebra AC Impedance Frequency-Domain Analysis, Op Amp AC Circuits AC Analysis Using SPICE Summary Problems Famous Scientists—Charles Proteus Steinmetz AC Power AND THREE-PHASE SYSTEMS AC Power Complex Power Three-Phase Systems Y-Y and Y-A Systems 396 406 413 414 ANS 398 420 421 428 432 434 452 453 436 456 457 473 484 496 504 510 Sil 466 519 520 529 539 550.125 12.6 CHAPTER 13.1 13.2 13.3 13.4 CHAPTER 14.1 14.2 143 144 14.5 14.6 14.7 14.8 CHAPTER 15.1 15.2 15.3 15.4 15.5 15.6 Power in Three-Phase Systems SPICE Analysis of 3-6 Systems Summary Problems New Words for Mr. Webster’s Dictionary: AC versus DC AC RESONANCE Series Resonance Parallel Resonance Resonant Op Amp Circuits Scaling Summary Problems Famous Engineers—Nikola Tesla NETWORK FUNCTIONS Complex Frequency Network Functions ‘The Natural Response Using H(s) ‘The Complete Response Using H(s) The Frequency Response Using H(s) Network Function Building Blocks Piecewise-Linear Bode Plots Circuit Responses Using SPICE ‘Summary Problems A Conversation with Richard White, Digital Equipment Corporation Two-Port NETWoRKS AND CoupLeD CoILs Two-Port Parameters The z, y, a, and h Parameters ‘Two-Port Interconnections Magnetically Coupled Coils ‘Transformers SPICE Analysis of Two-Ports and Coupled Coils Summary Contents xix 556 565 568 569 548, 576 S77 584 592 596 602 598 606 614 624 632 642 648 656 663 670 672 668 678 678 686 699 709 m9 725 730CHAPTER 16.1 16.2 16.3 16.4 16.5 16.6 16.7 16.8 CHAPTER 17.1 17.2 17.3 17.4 175 17.6 11.7 17.8 Contents Problems Essay: Maybe There’s an EV in Your Future THE LAPLACE TRANSFORM The Step and Impulse Functions ‘The Laplace Transform Operational Transforms The Inverse Laplace Transform Application to Differential Equations Application to Circuit Analysis Convolution Laplace Techniques Using PSpice Summary Problems A Conversation with Louis Hureston, Pacific Bell FOURIER ANALYSIS TECHNIQUES The Fourier Series The Effect of Shifting and Symmetry Frequency Spectra and Filtering The Exponential Fourier Series The Fourier Transform Properties of the Fourier Transform Fourier Transform Applications Fourier Techniques Using SPICE ‘Summary Problems A Conversation with Denice Denton, University of Wisconsin, Madison APPENDIX 1 Standard Resistance Values APPENDIX 2 Solution of Simultaneous Linear Algebraic Equations: Gaussian Elimination, Cramer's Rule APPENDIX 3 Euler’s Identity and the Undamped Response APPENDIX 4 Summary of Complex Algebra Answers to Odd-Numbered Problems Index 732 700 739 740 746 751 763 7 782 797 804 805 807 780 813 814 824 830 840 846 854 862 867 874 876 870 At Ad AT Ag ANS-1Basic Concepts CHAPTER 1.1 UNITS AND NOTATION 1.5 KIRCHHOFF’S Laws 1.2 ELECTRIC QUANTITIES 1.6 CIRCUIT ELEMENTS 1.3. ELECTRIC SIGNALS 1.7 SOURCES 1.4 ELectric Circuits efore undertaking a systematic study of electrical engineering principles, we review the basic concepts and laws underlying this discipline: charge, electric field, voltage, current, energy, and power, as well as electrical signal, circuit and circuit element, circuit laws, and element laws. ‘Though most of these topics are usually covered in prerequisite courses such as sophomore physics, we are devoting an entire chapter to their review because they are critical for developing physical insight into the operation of the circuits we are about to study. Depending on student background and curricular emphasis, parts of this chapter may be covered as reading assignments. This chapter also introduces a consistent system of units and notation, and familiarizes the student with the style and approach that will be pursued in the remainder of the book. Whenever possible, analogies are drawn to nonelectrical physical systems (such as mechanical and hydraulic systems). Concepts are illustrated by means of practical examples, followed by exercises that you are urged to solve before proceeding. As you study a worked example, be observant of how the problem is ap- proached, how the framework for its solution is laid out, and how the results are interpreted. You are interested in reaching an answer, but also in develop- ing a method and a style of doing things. This is an important asset that will accompany you throughout your career. An integral part of this style is always questioning whether your results are correct, or at least whether they make physical sense. As an applied disci- pline, engineering bears the enviable responsibility of not only finding answers, but also ensuring that they are correct. Mercifully, there is always a physi- cal basis against which engineers can assess the validity of their mathematical manipulations and of their numerical results.Chapter 1 Basic Concepts If finding a solution is fundamental to the engineering discipline, striving to minimize the time and effort involved is just as important as the solution itself. Thus, as you check the solutions to the exercises and problems provided by your instructor, be observant of the mistakes you may have made and of the unnecessarily tortuous paths you may have followed. Make note of them; study your own way of solving problems. This will help you improve your approach the next time around. None of us likes making mistakes, but we can exploit them to enhance our understanding and improve our performance. 1.1 Units AND NoTaTION Electrical engineering is a quantitative discipline that seeks to describe electrical phenomena in terms of mathematical equations. For this task to succeed, the quantities appearing in these equations must be expressed in a consistent and reproducible system of units. Moreover, it is desirable that the notation be clear, consistent, and self-explanatory whenever possible. SI Units In this book we use the Systéme Internationale (SI) d'Unités (International Sys- tem of Units), which is based on the meter as the unit of length, the kilogram as the unit of mass, the second as the unit of time, the kelvin as the unit of temperature, the ampere as the unit of current, and the candela as the unit of light intensity. Table 1.1 provides a summary of these units (boldfaced), as well as other important units. TABLE 1.1 SI Units Quantity Symbol Unit Abbreviation Length é meter m Mass m kilogram kg Time t second s ‘Temperature r kelvin K Force f newton N Energy w joule J Power P watt w Charge q coulomb c Current i ampere A Voltage v volt v Electric field E voltmeter Vim Magnetic fiux density B tesla T Magnetic flux ¢ weber Wb Resistance R ohm 2 Conductance G siemens s Capacitance c farad F Inductance L henry H Luminous intensity I candela edTABLE 1.2 Magnitude Prefixes Prefix Abbreviation Magnitude to-!5 10-2 10° jo~¢ 10-3 10° 10° 10° 10!? SOkrsr eos Unit Prefixes Electrical quantities may range in value over many orders of magnitude. To simplify notation, it is convenient to use the standard prefixes of Table 1.2, which you are encouraged to start applying right away. For example, suppose the result of your calculations is 1.5 x 10-4 A. Since this can be written either as 0.15 x 10°? A or as 150 x 10°® A, you should learn to express your result either as 0.15 mA or as 150 pA. Consistent Sets of Units ‘We say that a system of units is consistent if an equation as expressed in the SI system remains unchanged when expressed in the new system, For instance, shortly we shall study Ohm's Law, which relates voltage v, resistance R, and current i as v = Ri. In SI units this law is expressed as [V] = [IIA]. Suppose we now muhiply and divide the right-hand side by 10°. This yields [V] = [107 Q][10-3 Aj, or [V] = [k&2[mA], indicating that if resistance is ex- pressed in kQ and current in mA, then Ohm's Law remains unchanged. Thus, [V]. [k&2}, and [mA] form a consistent set of units, just like [V], [2], and [A]. On the other hand, [V], [k&], and [A] do not form a consistent set because we would have to include the term 107? to express Ohm's Law correctly, namely [V] = [Q][A} = 10-[kQ][A]. ‘The advantage of working with a consistent set is that calculations can be speeded up considerably. For instance, suppose K = 2 kQ and i = 3 mA. Then we can write directly v = 2 x 3 = 6 V, which is quicker and less prone to error than writing v = 2 x 10° x 3 x 10-3 = 6 V. Likewise, if v = 10 V and R = 4 kQ. then f must be in mA. In fact, i = 10/4 = 2.5 mA. You are encouraged to start working with consistent sets right away. The most frequently encountered consistent sets are: [V] = [QA] (11a) IW] = [VIIA] (1.1b) [V] = [kQ][mA] (1.2a) [mW] = [V][mA] (1.2b} Ld Units and Notation 34 Chapter 1 Basic Concepts 0 Figure 1.1 Signal notation: vg = Vs +05. IV] = [MQ][zA] (1.3a) (eW] = [V][wA] (1.3b) The sets of Equation (1,1) are used in power systems, such as power sup- plies, electric motors, and power amplifiers, where currents are in the range of amperes. The sets of Equation (1.2) are common in low-power electronics, such as home entertainment equipment and personal computer circuits, where currents are in the range of milliamperes. Finally, the sets of Equation (1.3) are used in micropower electronics, such as pocket calculators and digital wristwatches, where currents are in the range of microamperes. Signal Notation Voltages and currents are usually designated as quantities with subscripts. The latter may be either uppercase or lowercase, according to the following conven- tion: (1) The instantaneous value of a signal is represented by lowercase letters with uppercase subscripts, such as Us. is, Vag. ian. DC signals, that is, signals that are designed to remain constant with time, are represented by uppercase letters with uppercase subscripts, such as Vs, Is, Vaps Jan. (3) Often a signal consists of a time-varying or ac component superimposed upon a constant or dc component. AC components are represented by lowercase letters with lowercase subscripts, such a8 Us. is, Uap. and ign. This is illustrated in Figure 1.1 for the case of a voltage signal, @ vs = Vs t 06 {1.4} In this notation, Vs and v, are called, respectively, the de component and the ac component of the signal, and vs is called its total instantaneous value, For a current signal, we similarly have is = Is + is. Special signal values such as maximum or peak values, average values, and rms values are represented by uppercase letters with lowercase subscripts, such a8 Vn. Tiny Voks Tpks Vave Favs Vems» 204 Irs. @ 1.2 Evectric QUANTITIES Before embarking upon the study of electric circuits and their laws, iet us review the basic concepts of charge, electric field, voltage, current, and power, A clear understanding of these concepts is critical for developing physical insight into the operation of electric circuits. Charge The fundamental quantity of electricity is the electric charge which we denote as q. Its SI unit is the coulomb (C), named for the French physicist Charles A. de Coulomb (1736-1806). Charges may be either positive or negative. The mostelementary positive charge is that of the proton, whose value is +1.602x 10-19 C. The most elementary negative charge is that of the electron, whose value is —1.602 x 10°"? C. All other charges, whether positive or negative, are integral multiples of these basic charges. For instance the hole, a charge carrier found in semiconductor materials of the types used to fabricate diodes and transistors, has a positive charge of +1.602 x 107" C. An atom contains z protons in the nucleus and z electrons in the surrounding electron shells, where z is the atomic number of the element under consideration. Since their positive and negative charges balance out, atoms are electrically neutral, However, an atom can be stripped of one or more of its outer-shell electrons. This leaves a corresponding number of protons uncovered, turning the atom into a positive ion. Likewise, a negative ion is an atom having one ‘or more excess electrons in its outer shell. To make up a charge of 1 C it takes 1/(1.602 x 107") = 6.24 x 1088 elementary charges. This is a mind-boggling number. Luckily, matter consists of atoms so densely packed that to make up a charge this large is a relatively easy task. Charge is conservative, that is, it cannot be created or destroyed. How- ever, it can be manipulated in a variety of different ways, and herein lies the foundation of electrical engineering. The most common tool for the manipula- tion of charge is the electric field, which we denote as E, When exposed to an electric field E, a charge experiences a force whose direction is the same as E for positive charges, but opposite to E for negative charges. Potential Energy As a consequence of the force exerted by the electric field, a charge possesses potential energy. This energy, denoted as w, depends on the magnitude of the charge as well as its location in space. This is similar to a mass exposed to the gravitation of earth. Lifting a mass m to a height A above some reference level, such as sea level, increases its potential energy by the amount w = mgh, where g is the gravitational acceleration. If we let the mass go, it will fall in the direction of decreasing potential energy and acquire kinetic energy in the process. The same can be said of a charge under the effect of an electric field, except that positive charges tend to fall in the same direction as E, and negative charges in the opposite direction, or against E. Recall from physics studies that the reference or zero level of potential en- ergy can be chosen arbitrarily, the reason being that only differences in potential energy have practical meaning. Just as in the gravitational case it is often con- venient to choose sea level as the zero level of potential energy, in the electrical case it has been agreed to regard earth as the zero level of potential energy for charges. Home appliances and entertainment equipment are equipped with three-prong power cords for connection to the utility line as well to earth, or ground. All points of the equipment that are connected to earth are said to be grounded, and any charges residing at these points are thus assumed to have zero potential energy. In portable equipment lacking an electric connection to earth, the chassis is often given the role of ground. 1.2 Electric QuantitiesChapter I Basic Concepts Voltage The rate at which potential energy varies with charge is denoted as v and is called the electric potential, dw dq where the symbol “2” stands for “is defined as.” Potential can also be viewed as potential energy per unit charge, or potential energy density. The SI unit of potential is the volt (V), named for the Italian physicist Alessandro Volta (1745-1827). Since the SI unit of energy is the joule (J), it follows that IV=1I/C. ‘What matters to us, however, is not potential per se, but potential differ- ence, or voltage. The physical interpretation of Equation (1.5) is as follows: if a charge dq gives up an amount of energy dw in going from one point to another in space, then we define the voltage between those points as v = dw/dq. Potential difference or voltage is easily created by means of a battery. The terminal having the Aigher potential of the two is identified by the + sign and is called positive. The other terminal is by default called negative. Denoting the in- dividual terminal potentials with respect to ground as vp and uy, a battery yields (1.5) vp — uy = Vs (1.6) where Vs is the voltage rating of the battery. For example, a 9-V radio battery yields vp — uy = Vs =9 V, that is, it keeps up higher than uy by 9 V, regard- less of the individual values of vy or vp. If we ground the negative terminal so that vy = 0 V, then the battery will yield up = 9 V. Conversely, if we ground the positive terminal so that vp = 0, the battery yields vy = —9 V. Likewise, with vy = 6 V the battery yields vp = 15 V, with vy = —6 V it yields vp = +3 = —S V it yields uy = —14 V, and so forth. Another familiar example is offered by a 12-V car battery, whose negative terminal is designed to be connected to the chassis of the car and, hence, to be at zere potential by definition. We observe that the terms positive and negative bear no relationship to the individual polarities of vp and vy; they only reflect the signs preceding vp and vy in Equation (1.6). Clearly, the terms higher and lower would be more appropriate than the terms positive and negative. Relation Between Electric Field and Potential By establishing a potential difference, a battery generates an electric field. Ficld and potential are related by the important law of physics E=—grad v (1.7a) If we orient the battery terminals so that the direction of E coincides with the x axis, this relation simplifies as dv e=-= (1.7b) where E denotes the magnitude or strength of E, and the negative sign indicates that E points in the direction of decreasing potential. The SI unit of electric field is the volt/meter (V/m).The preceding concepts are illustrated in Figure 1.2, where a_ battery is connected by means of two wires to a bar of conductive material, such as car- bon composition, to maintain a prescribed voltage Vs across its extremes. If the material is homogeneous and the bar has uniform cross section, as shown, then the electric field produced inside the bar will be constant throughout. We can thus replace the differentials of Equation (1.7b) with finite differences and write _2@ = 00) £-0 where £ is the length of the bar, and v(£) and v(0) are, respectively, the volt- ages at its right and left extremes. Since (0) — v(€) = Vs, by battery action, it follows that E= (1.8) E= {1.9) ols Example 1.1 Ifa 9-¥ battery is connected across a 6-cm homogencous bar of conductive material, what is the strength of the electric field inside the bar? Solution Since Vs = 9 V and £ = 6 x 10-2 m, Equation (1.9) yields E = Vs/€ = 9/6 x 10-2) = 150 Vim. | Remark You are urged to develop the habit of always expressing your results in their correct physical units. Just saying E = 150 in our example is not enough. We must also specify V/m. Equation (1.7b) can be turned around to calculate v(x), 7 vx) = f -Edé + v{(0) (1.10) D where £ is a dummy integration variable. Using Equation (1.9) yields ver) = ee +00) (11) This represents a straight line with slope du(x}/dx = —(Vs/t) = —E, and with initial value v(0). As we know, this value can be chosen arbitrarily, and in Figure 1.2 we have chosen v(0) = Vs because this yields v(2) = 0 V and makes things neater. Substituting »(0) = Vs into Equation (1.11) yields *) (1.12) v(x) = Vs (1 = 1.2 Electric Quantities 7 + V5 — 0 t Figure 1.2 Using a battery to establish an electric field inside a homogeneous: bar of conductive material.Chapter 1 Basie Concepts We observe that as we move from the left extreme to the right extreme, the voltage inside the bar varies linearly from Vs to 0 V. This can be verified experimentally by tapping off the voltage at any intermediate point by means of a sliding contact, or wiper, as shown, For example, with Vs; = 9 V and with the wiper positioned half-way where x = €/2, Equation (1.12) predicts v = 91 — (€/2)/é] = 4.5 V; with the wiper two-thirds of the way toward the right, where x = (2/3)é, we obtain v = 3 V, and so forth. It is evident that by properly positioning the wiper, we can obtain any voliage between Vs and 0 V. This principle forms the basis of slide potentiometers, or slide pots, which are used, among other things, to effect volume control in modern audio equipment. Current If charges are free to move, exposing them to an electric field will force them to drift either along or opposite to E, depending on charge polarity. The resulting stream of charges is called current. The rate at which charge crosses some reference plane perpendicular to the stream is denoted as i and is called the instantaneous current, 249 = 1.13} ar {1.13} The SI unit of current is the ampere (A), named for the French physicist André M. Ampére (1775-1836). Clearly, | A = 1 Cis. The preceding concepts are illustrated in Figure 1.3 for the case of a bar of p-type silicon, a material widely used in the fabrication of integrated circuits (ICs) of the type found in digital wristwatches, personal computers, and other modern electronic equipment. In this material the mobile charges are positive and are called holes, Applying a voltage v across the bar establishes a field E inside the bar which, in turn, causes the holes to drift in the direction of the O- 6-6 oS. -O-6 i @ tb) Figure 1,3. Illustrating electric current: (a) positive charge flow; (b) negative charge flow.field to produce a current i, voEsi As shown in the figure, we indicate current direction by an arrow alongside the bar. Note also that to simplify our diagram we are representing the battery in terms of its standard circuit symbol. One can find i by counting the number of holes that pass in I s through some reference plane perpendicular to the bar, Multiplying this number by the charge of each hole, or +1.602 x 10" C, yields i. This is similar to standing atop a bridge and counting the number of cubic feet of water passing under the bridge in { s to find the flow rate of the river below. As an example, suppose we count 2,5 x 10!5 holes/s. Then i =2.5x 10!5 x 1,602 x 107!" =4.0x 1074 Cis, or 0.4 x 10°? A. This is more conveniently expressed as 0.4 mA. Figure 1.3(b) illustrates the dual situation, namely, that in which the mobile charges are electrons, which are negative. This situation is encountered in or- dinary conductors like copper as well as in n-type silicon, another widely used. material in IC fabrication. Since electrons are negative, the direction of flow is now opposite to E; however, the inversion in direction is counterbalanced by the inversion in charge polarity, so that the direction of i is again the same as E. An alternate way of justifying this is as follows. In Figure 1.3(a), as positive charges drift from left to right, they tend to accumulate positive charge on the negative terminal while removing positive charge from the positive terminal. This is equivalent to accumulating positive charge on the negative terminal, and negative charge on the positive terminal. In Figure 1.3(b), as negative charges drift from right to left, they tend to accumulate negative charge on the positive terminal, and positive charge on the negative terminal. From the battery viewpoint the two situations are indistinguishable. Hence, the direction of i must be the same in both cases, even though the charges have opposite polarities. As we proceed, we shall find it convenient to think of current as due exclu- sively to positive charge flow, regardless of the actual physical details, When studying semiconductor devices such as diodes you will find that hole and elec- tron currents may coexist within the same device. Denoting these currents, respectively, as ip and iy, the net current i is the additive combination of the two, or i = ip + iy. For example, suppose we have 2 x 105 holes/s flowing from left to right and 3 x 10'° electrons/s flowing from right to left. Then i = (2+3)10" x 1.602 x 10" = 0.8 mA flowing from left to right. This is the same as if i were due exclusively to (2 + 3)10"° holes flowing from left to right. Equation (1.13) can be turned around to find the amount of charge that passes through the reference plane during the time interval from 1) tof, 2 o- | i(t) dt (1.14) A The ability of a battery to store charge is referred to as the battery capacity, and is expressed in ampere-hours (Ah), where | Ah = (1 C/s) x (3600 s) = 3600 C. Car batteries have capacities on the order of 10? Ah. 1.2 Electric QuantitiesChapter 1 Basic Concepts > Example 12 ‘The current entering a certain terminal is i(t) = 10e7!" mA. {a) Find the total charge entering the terminal between ¢ = 0 and t=lys. (b) Assuming i(¢) is due to electron motion, express the above charge in terms of the basic electron charge. Are electrons entering or exiting the terminal? (c) Repeat, but for the interval between r = 1 jus and ¢ = 2 ps. Solution (a) The charge entering the terminal is 1081 pa e —10 =1078 (eo — es) = 108 (ee 4 Q -f 1027! x 1073 dt = 107? x In a (b) This corresponds to 6.321 x 107° /(1.602 x 107!9) = 3,946 x 10! electrons, Since they are negative, they exit the terminal. (ce) Repeating the calculations, we find Q = 2.325 nC, or 3.452 x 10! exiting electrons. Exercise 1.1 (a) The current entering a certain terminal is i(t) = Ssin 27 10°r A. Assuming the current is due to hole motion, find the net number of holes entering the terminal (a) between ¢ = 0 and ¢ = 0.5 ms, and (b) between t = 0 and ¢ = 1 ms. Compare the two cases, comment. ANSWER (a) 9.935 x 10" holes, (b) zero, because the number of holes entering between 0 and 0.5 ms equals the number exiting between 0.5 ms and I ms. Power To sustain electric current inside a piece of material takes an expenditure of energy, or work. In the examples of Figure 1.3 this work is performed by the battery. The rate at which energy is expended is denoted as p and is called the instantaneous power, a dw dt (1.15)