RESPONSE OF FIRST-ORDER RC AND RL CIRCUITS

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7.1 The Natural Response of an RC Circuit 7.2 The Natural Response of an RL Circuit 7.3 Singularity Functions 7.4 The Step Response of RC and RL Circuit

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7.1 The Natural Response of an RC Circuit

Resistive Circuit => RC Circuit

algebraic equations => differential equations Same Solution Methods (a) Nodal Analysis (b) Mesh Analysis

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7.1 The Natural Response of an RC Circuit

The solution of a linear circuit, called dynamic response, can be decomposed into Natural Response + Forced Response or in the form of Steady Response + Transient Response

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7.1 The Natural Response of an RC Circuit

The natural response is due to the initial condition of the storage component ( C or L). nThe forced response is resulted from external input ( or force). nIn this chapter, a constant input (DC input) will be considered and the forced response is called step response.
n

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7.1 The Natural Response of an RC Circuit

Example 1 : Two forms of the first order circuit for natural response

Find v(t)
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Find i(t)
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7.1 The Natural Response of an RC Circuit

Example 1 : (cont.) Four forms of the first order circuit for step response

V R

TH

TH

A capacitor connected to a Thevenin equivalent

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A capacitor connected to a Norton equivalent

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7.1 The Natural Response of an RC Circuit

Example 1 : (cont.)

V R

TH

TH

An inductor connected to a Thevenin equivalent

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An inductor connected to a Norton equivalent

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7.1 The Natural Response of an RC Circuit

Example 2

t0
nodal analysis ic + iR = 0 C
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dv 1 + v=0 dt R
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7.1 The Natural Response of an RC Circuit

Example 2 (cont.)
characteristic root S, 1 CS + = 0 R 1 S= RC v (t ) = Ke
1 t RC

t0
v ic v iR R

,t 0

From the initial condition v (0 + ) = v (0 - ) = V0

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v ( t ) = V0 e

t RC
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7.1 The Natural Response of an RC Circuit

Example 2 (cont.)
= RC
t

time constant

v(t) = V0 e , t 0 t = , t = 3 , t = 5 ,
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v(t ) = 0.36788 V0 4.979% < 5% 0.674% < 1%

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7.1 The Natural Response of an RC Circuit

Example 2 (cont.)
It is customary to assume that the capacitor is fully discharged after five time constants.

v(t ) V0 iR (t ) = = e ,t 0 R R
The power dissipated in R is

V0 2 p (t ) = viR = e R
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2t

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7.1 The Natural Response of an RC Circuit

Example 2 (cont.)
The energy dissipated in R is
1 wR (t ) = pdt = CV0 2 (1 e ) 2 0

2t

1 wR () = CV0 2 2

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7.1 The Natural Response of an RC Circuit

Example 3 : Find vc , vx , and ix for t > 0

This circuit contains only one energy storage element. Step 1. Use Thevenin theorem to find the equivalent RTH looking into a-b terminals.
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7.1 The Natural Response of an RC Circuit

Example 3 : Find vc , vx , and ix for t > 0

Step 2. Find vc(t) Step 3. Replace vc(t) as a voltage source in the original circuit and solve the resistive circuit.
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7.1 The Natural Response of an RC Circuit

Step 1. RTH = (8 + 12) P 5 = 4
Step 2. vc (0) = 15V

0.1

dvc vc + =0 dt 4
2.5 t

= RC = 0.4 s vc (t) = 15e

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V, t 0
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7.1 The Natural Response of an RC Circuit

Step 3.

By using voltage divider principle vx (t ) = 12 vc (t ) 8 + 12

2.5 t

= 9 e ix (t ) =
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V ,t 0

2.5 t vx (t ) = 0.75e A 12

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7.2 The Natural Response of an RL Circuit

Example 4

iL

Remember that vc(t) and iL(t) are continuous functions for bounded inputs. V t 0 , i = S = i (0 ) @ I0 RS
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7.2 The Natural Response of an RL Circuit

t0

mesh analysis v L + vR = 0 L
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di + Ri = 0 dt
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7.2 The Natural Response of an RL Circuit

characteristic equation LS + R = 0 S = R L

i (t ) = Ke

R t L

,t 0

i (0 + ) = i (0 ) = I 0 i (t ) = I 0 e , t 0 @ L , time constant R
t

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7.2 The Natural Response of an RL Circuit

vR (t ) = Ri = I0 Re pR = vR i = I0 Re
2
t

2 t

wR (t ) = wR () =
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1 pR (t )dt = LI0 2 (1 e ) 2

2 t

1 LI 0 2 2
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7.2 The Natural Response of an RL Circuit

Example 5 : i(0)=10A , find i(t) and ix(t)

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7.2 The Natural Response of an RL Circuit

Step 1. Find the Thevenin equivalent circuit looking into a-b terminals. Apply is , find e. Then RTH = e / is

i = is e 3i e + = is 4 2 e 3 e + is + = is 4 4 2
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7.2 The Natural Response of an RL Circuit

3 1 e = is 4 4 e 1 = is 3

Step 2.
1 3

mesh equation di 1 + i=0 dt 3 L 0.5 = = = 1.5 S R 1/ 3 0.5 i (t)=10e A , t 0

2 - t 3
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7.2 The Natural Response of an RL Circuit

Step 3 Replace the inductor with an equivalent current source with i(t) and solve the resistive circuit.

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i (t) = 10 e

-2 t 3

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7.2 The Natural Response of an RL Circuit

For this problem, since 2 is in parallel with the inductor, it is trivial to get
vL (t) = L di dt
t d (10 e 3 ) dt -2

= 0.5

= 0.5 10 (
-2

-2 3 t )e 3

-2

-10 3 t e V 3 -2 v -5 3 t ix = L = e V, t0 2 3 =
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7.2 The Natural Response of an RL Circuit

Example 6 : The switch has been closed for a long time. At t=0, it is opened. Find ix .

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7.2 The Natural Response of an RL Circuit

t=0-

i1 (0- ) =

40V =8A 2+(12//4)

ix (0- ) = 0 12 3 = 8 = 6 A 12+4 4 + Initial codition i (0 ) = i (0- ) = 6 A i (0- ) = i1 (0- )

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7.2 The Natural Response of an RL Circuit

t 0+

Step 1 RTH = (4+12) // 16 = 8

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7.2 The Natural Response of an RL Circuit

Step 2 mesh analysis

di + 8i = 0 dt i (t) = K e-4t , t 0 2 i (0+ ) = 6 A i (t) = 6 e-4t A , t 0

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7.2 The Natural Response of an RL Circuit

Step 3 Replace L with an equivalent current source, and find ix solve the resistive circuit.

ix (t) =
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4+12 i (t) 12+4+16 = 3e-4t A , t 0

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7.3 Singularity Functions

Switching functions are convenient for describing the switching actions in circuit analysis. They serve as good approximations to the switching signals.

unit step function unit impulse function unit ramp function

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u(t) (t) r(t)

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7.3 Singularity Functions

Definition 0 , t<0 u(t) = 1 , t>0 undefined at t=0 or more general 0 , t<t 0 u(t-t 0 ) = 1 , t>t 0
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Example 7

V0 u(t-t0) is applied to a-b terminals

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7.3 Singularity Functions

Definition d (t) = u(t) = dt , t<0 0 undefined , t=0 0 , t>0

Also known as the delta function

or

(t) dt = 1 (t-t 0 ) dt = 1
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0+ 0-

or
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t 0+ t 0-

7.3 Singularity Functions

The unit impulse function is not physically realizable but is a very useful mathematical tool.
1 2d

An approximation as d 0

1 d
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Another approximation as d 0
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7.3 Singularity Functions

Shifting property, if t 0 [a , b]

a f(t) (t-t 0 )dt = f(t 0 )

b

Q a f(t) (t-t 0 )dt = a f(t 0 ) (t-t 0 )dt

b b

= f(t 0 )a (t-t 0 )dt

b

= f(t 0 )
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7.3 Singularity Functions

Definition r(t) = - u(t)dt = t u(t) or 0 , r(t) = t , t0 t0
t

Note that (t) = d u(t) dt d r(t) u(t) = dt , , u(t) = (t)dt

t

r(t) = u(t)dt
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7.3 Singularity Functions

Example 8
(a)

v(t) = 10 [u(t-2) - u(t-5)]

(b )

dv(t) = 10 (t-2) - 10 (t-5) dt

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7.3 Singularity Functions

(c )

i(t) = 10 u(t) -20 u(t-2)+10u(t-4)

(d )

v(t) = 5r (t)-5r (t-2)-10u(t-2)

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7.4 The Step Response of RC and RL Circuits

When a dc voltage (current) source is suddenly applied to a circuit , it can be modeled as a step function , and the resulting response is called step response .

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7.4 The Step Response of RC and RL Circuits

Example 9

V ( 0 ) = V0 , i = C

dv , choose v as unknown dt

Step 1

Mesh Analysis dv RC + v = VS , t 0 dt
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7.4 The Step Response of RC and RL Circuits

Step 2 Solving the differential equation ( a ) homogeneous solution

RC

dv h + vh = 0 dt
t RC

v h ( t ) = Ke dv p

, t0

( b ) particular solution dt v p = VS RC + v p = VS
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7.4 The Step Response of RC and RL Circuits

(c) co m p lete so lu tio n + In itial co n d itio n v ( t ) = vh + v p v (0 + ) = v (0 ) = V0 K = V0 Vs V 0 , t < 0 v (t ) = t V s + (V 0 V s ) e , t 0
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= Ke

t RC

+ Vs

7.4 The Step Response of RC and RL Circuits

Vs R

i(t)

t dv 1 RC i(t ) = C = C(Vo Vs )( )e dt RC t Vs Vo RC = e , t 0 R V For Vo = 0 , then i(o+ ) = S R C is initially short circuited.

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7.4 The Step Response of RC and RL Circuits

Example 10
Before t=0 , the circuit is under steady state . At t=0 , the switch is moved to B . Find v(t) , t > 0 For t<0 , the circuit shown:
v ( 0 ) =
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3k

4k

5k

3k

5 24V = 15V 3+5

5k

v(0 )

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7.4 The Step Response of RC and RL Circuits

For t>0
mesh analysis
4k

dv 4 10 3 ( 0.5 10 3 ) + v = 30V dt v ( t ) = v p + vh = 30 + Ke
t 3

, t>0

= RC = 4 10 0.5 10 3 = 2 second v ( 0 + ) = v ( 0 ) = 15V

t

v ( t ) = 30 + (15 30 ) e
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,t0
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7.4 The Step Response of RC and RL Circuits

Example 11
Before the switch is open at t=0, the circuit is in steady state. Find i(t) & v(t) for all t. For t<0 , then
v ( t ) = 10V , t < 0 10 i ( t ) = A = 1A , t < 0 10
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10

20

1 F 4

10

20

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7.4 The Step Response of RC and RL Circuits

For t>0
1 F 4

Thevenin equivalent circuit

20 3

1 F 4

v ( 0+ ) = v ( 0 ) = 10V

ic ( t ) = C

dv 1 dv = dt 4 dt 20 1 dv + v = 20V , t > 0 3 4 dt
3 t 5

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v ( t ) = 20 + Ke

= 20 + (10 20 ) e

3 t 5

,t > 0

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7.4 The Step Response of RC and RL Circuits

From the original circuit v dv +C KCL : i (t ) = dt 20 0.6 t = 1+ e ,t > 0 10V , t < 0 v (t ) = 0.6 t )V , t 0 ( 20 10 e 1 A, t < 0 i (t ) = 0.6 t ) A, t 0 (1 + e Note that
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i (0 ) = 1 A i (0 + ) = 2 A

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7.4 The Step Response of RC and RL Circuits

Example 12

Mesh analysis di L + RTH i = VTH , t 0 dt i ( 0) = 0

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7.4 The Step Response of RC and RL Circuits

Solution:

i(t ) = ih (t ) + i p (t ) characteristic equation LS + RTH = 0 R 1 S = TH = L ih (t ) = Ke

t

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i p (t ) =

VTH RTH

t VTH + Ke RTH + i(0 ) = i(0 ) = 0 Note : L is equivalent to open circuit t V i(t ) = TH (1 e ) , t 0 RTH t di V (t ) = L = VTH e u(t ) dt

i(t ) =

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7.4 The Step Response of RC and RL Circuits

t VTH i (t ) = (1 e ) , t 0 RTH

V (t ) = L

t di = VTH e u (t ) dt

VTH RTH

VTH

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7.4 The Step Response of RC and RL Circuits

Example 13
t0 , steady state
1 H 3

t0 , switch is opened

For t<0

i (0) =
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10 = 5A 2
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7.4 The Step Response of RC and RL Circuits

For t 0
1 H 3
Mesh Analysis 1 di + 5i = 10V , t 0 3 dt s = 15 ih (t ) = Ke
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1 H 3

i (t ) = ih + i p = Ke
t

+ 2A , t 0

, =

1 15
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i p (t ) = 2 A

7.4 The Step Response of RC and RL Circuits

initial condition i (0+ ) = i (0 ) = 5 A

i (t ) = 2 + 3e
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,t0
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7.4 The Step Response of RC and RL Circuits

Note that if V is chosen for solution : V ( 0 ) = 0V KVL : V (0+ ) = 10V (2 + 3)5 = 15V
t di 1 d or V = L = (2 + 3e ) dt 3 dt 1 t = e , t 0+ + V (0 ) = 15V , same answer.
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7.4 The Step Response of RC and RL Circuits

Example 14 : S1 is closed at t=0
S2 is closed at t=4 Find i(2)= i(5)=?

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7.4 The Step Response of RC and RL Circuits

For t < 0

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t < 0 , i=0 , open circuit

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7.4 The Step Response of RC and RL Circuits

For 0+ t 4S

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7.4 The Step Response of RC and RL Circuits

For 0+ t 4S

di + 10i = 40V , 0+ t 4S dt i (0 + ) = i (0 ) = 0 A =

L 5 1 = = R 10 2 i (t ) = 4(1 e 2 t ) A , 0 + t 4 S
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i (4 ) = 4(1 e 8t ) 4 A

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7.4 The Step Response of RC and RL Circuits

For t 4+

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7.4 The Step Response of RC and RL Circuits

For t 4+

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i (4 ) = 4 A 40 10 VTH = 2 + 10 = 20V 4+2 4 22 RTH = 4 P 2 + 6 = + 6 = 3 3 L 5 15 = = = S RTH 22 / 3 22

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7.4 The Step Response of RC and RL Circuits

For t 4+
22 3

i (4 + ) = i ( 4 ) = 4 A 5 di 22 + i = 20V dT 3 where T = t 4
22 (t 4 ) 15

ih (t ) = Ke
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, t 4+

i p (t ) =

20 60 30 = = = 2.727 22 / 3 22 11

22 (t 4) 30 + Ke 15 , t 4+ 11 30 i (4 + ) = 4 A = +K 11 30 14 K = 4 = 11 11 22 30 14 15 ( t 4 ) i (t ) = + e , t 4+ 11 11

i (t ) =

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7.4 The Step Response of RC and RL Circuits

In Summary 0 , t 0 i (t ) = 4(1 e 2t ) , 0 t 4 30 14 + e 22(t 4) , t 4 11 11

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Summary
n

Objective 1 : Be able to determine the natural response of both RC and RL circuits. Objective 2 : Be able to find the step response of both RC and RL circuits. Objective 3 : Know and be able to use the singularity functions. Objective 4 : Be able to analyze circuits with sequential switching.
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Summary
Chapter Problems : 7.7
7.14 7.23 7.32 7.47 7.63

Due within one week.

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