Second-Order Circuits (Part 1)

Pradita O. Hadi
School of Electrical Engineering and Informatics
Institute of Technology Bandung

Second-Order Circuit 1
 Learning Objectives
• Able to analyse a circuit containing two storage elements.
• Able to solve source-free second-order circuits.
• Able to solve second-order circuits with independent dc source.
• Able to solve second-order differential equation.

Second-Order Circuit 2
 Introduction
• A second-order circuit is characterized by a second-order differential
equation.
• A second-order circuit consists of resistors and the equivalent of two
independent energy storage elements.
• To solve a second-order differential equations, we need two initial
conditions (boundary conditions) which can often be obtained via
circuit analysis.

Second-Order Circuit 3
Second Order Circuit

Second-Order Circuit 4
Finding Initial and Final Values

Second-Order Circuit 5
 Finding Initial and Final Values
• Some initial values such as the voltage across a capacitor and the
current through an inductor in second-order circuits can be
determined from circuit analysis using the results that
(1) the capacitor voltage is always continuous and
(2) the inductor current is always continuous

vc (0 )  vc (0 )
iL (0  )  iL (0  )

Second-Order Circuit 6
 Initial Value
• The initial derivatives of voltage across a capacitor and current
through an inductor can often be determined from the initial values
of voltage and current using the v-i characteristics of capacitor and
inductor below.

dvc (0  )
C  ic (0  )
dt
diL (0  )
L  v L (0  )
dt
Second-Order Circuit 7
 Final Value
• The final values of voltage v(∞) and current i(∞) are determined
via circuit analysis using the steady-state properties that the
capacitor is treated as an open circuit and the inductor as a short
circuit.

Second-Order Circuit 8
 Example (1)
• The switch shown has been closed for a long time. It is open at t = 0.
Find:
(a) i (0 ), v(0 ), (b) di (0 )/dt , dv(0 )/dt , (c) i (), v().

Second-Order Circuit 9
 Example (1)

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

 dc steady state  at t(0+): switch open  reaches steady state

Second-Order Circuit 10
 Example (1)
(a) At dc steady state, the inductor acts like a short circuit and the
capacitor like an open circuit (Fig.(a)).

 12
i (0 )   2A, v(0  )  2i (0  )  4V
42
i (0  )  i (0  )  2 A, v (0  )  v (0  )  4 V

Second-Order Circuit 11
 Example (1)
(b) At t = 0+ , the switch is open (Fig.(b))
 
iC (0 )  i (0 )  2A
dv(0  ) iC (0  ) 2
   20V/s
dt C 0.1
 12  4i (0  )  vL (0  )  v(0  )  0

vL (0 )  12  8  4  0
di (0  ) vL (0  ) 0
   0A/s
dt L 0.25
Second-Order Circuit 12
 Example (1)
(c) For t > 0 , the circuit undergoes transience. But t → ∞, the circuit
reaches steady state (Fig.(c))

i ( )  0 A, v()  12V

Second-Order Circuit 13
 Example (2)
• Calculate: (a ) iL (0  ), vC (0  ), vR (0  )
(b) diL (0  ) / dt , dvC (0  ) / dt
(c) iL (), vC (), vR ()

Second-Order Circuit 14
 Example (2)
(a) For t < 0, 3u(t) = 0, At t = 0- (the circuit has reached steady state)
  
iL (0 )  0, vC (0 )  20V, vR (0 )  0

Second-Order Circuit 15
 Example (2)
For t > 0, 3u(t)=3(Fig.(b))
iL (0  )  iL (0  )  0, vC (0  )  vC (0  )  20V
Applying KCL at node a,
vR (0  ) vO (0  )
3 
2 4
Applying KVL to the middle mesh,
 vR (0  )  vO (0  )  vC (0  )  20  0
vR (0  )  vO (0  )
 vR (0  )  vO (0  )  4V
Second-Order Circuit 16
 Example (2)
diL (0  ) vL (0  )
(b)  Applying KVL to the right mesh,
dt L

  di ( 0 )
vL (0 )  vC (0 )  20  0 , L
0
dt
Applying KCL at node b,
vO (0  )
 iC (0  )  iL (0  ) ,
4
   4
[ v o (0 )  4, i L (0 )  0  i C (0 )   1A
4
dvC (0  ) iC (0  ) 1
   2V/s
dt C 0.5
Second-Order Circuit 17
 Example (2)
(c) As t → ∞, the circuit reaches steady state

2
i L ( )  3 A  1A,
24
4
v R ( )  3 A  2  4A,
24
vC ()  20V

Second-Order Circuit 18
The Source-Free Series RLC Circuit

Second-Order Circuit 19
The Source-Free Series RLC Circuit

1. Initial condition: 3. Find second-order equation:

1 0
𝑣 0 = න 𝑖𝑑𝑡 = 𝑉0 𝑑 𝑑𝑖 1 0 𝑑
𝐶 −∞ 𝑅𝑖 + 𝐿 + න 𝑖𝑑𝑡 = 0
𝑖 0 = 𝐼0 𝑑𝑡 𝑑𝑡 𝐶 −∞ 𝑑𝑡

𝑑𝑖 𝑑2 𝑖 𝑖
2. KVL for 𝒕 > 𝟎: ⟺𝑅 +𝐿 2+ =0
𝑑𝑡 𝑑𝑡 𝐶
𝑑𝑖 1 0 𝑑2 𝑖 𝑑𝑖 𝑖
𝑅𝑖 + 𝐿 + න 𝑖𝑑𝑡 = 0 ⟺𝐿 2+𝑅 + =0
𝑑𝑡 𝐶 −∞ 𝑑𝑡 𝑑𝑡 𝐶

𝒅𝟐 𝒊 𝑹 𝒅𝒊 𝒊
⟺ 𝟐+ + =𝟎
𝒅𝒕 𝑳 𝒅𝒕 𝑳𝑪
Second-Order Circuit 20
 The Source-Free Series RLC Circuit

2. KVL for 𝒕 > 𝟎:

𝑣 𝑡 as capacitor voltage

𝑑𝑣 𝑑𝑣 𝑑2 𝑣
𝑖=𝐶 ⟺ 𝑅𝐶 + 𝐿𝐶 2 + 𝑣 = 0
𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑑𝑖 𝑑2 𝑣 𝑑𝑣
𝑅𝑖 + 𝐿 + 𝑣 = 0 ⟺ 𝐿𝐶 2 + 𝑅𝐶 +𝑣 =0
1. Initial condition: 𝑑𝑡 𝑑𝑡 𝑑𝑡
1 0
𝑣 0 = න 𝑖𝑑𝑡 = 𝑉0 𝑑𝑣 𝑑 𝑑𝑣 𝒅𝟐 𝒗 𝑹 𝒅𝒗 𝒗
𝐶 −∞ ⇔ 𝑅𝐶 +𝐿 𝐶 +𝑣 =0 ⟺ 𝟐+ + =𝟎
𝑖 0 = 𝐼0 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝒅𝒕 𝑳 𝒅𝒕 𝑳𝑪

Second-Order Circuit 21
 Finding Solution of Second-Order Equation
To find the solution of second-order equation, two initial conditions are
necessary to be known. Example:
𝑑𝑖
• Initial condition of current 𝑖 and its first differential ( ), or
𝑑𝑡

• Initial condition of some voltages 𝑣 and current 𝑖.

Second-order equation: Initial condition of the series RLC circuit:

𝑖 0 = 𝐼0
𝑑 2 𝑖 𝑅 𝑑𝑖 𝑖
2
+ + =0
𝑑𝑡 𝐿 𝑑𝑡 𝐿𝐶 𝑑𝑖 0 𝑑𝑖 0 1
𝑅𝑖 0 + 𝐿 + 𝑉0 = 0 ⇔ = − 𝑅𝐼0 + 𝑉0
𝑑𝑡 𝑑𝑡 𝐿
Second-Order Circuit 22
 Finding Solution of Second-Order Equation
Our experience on first-order circuits suggests that the solution is of
exponential form. So we let 𝑖 = 𝐴𝑒 𝑠𝑡 , where 𝐴 and 𝑠 are constants to
be determined. We obtain:

𝐴𝑅 𝑠𝑡 𝐴 𝑠𝑡 𝑅 1
𝐴𝑠 2 𝑒 𝑠𝑡 + 𝑠𝑒 + 𝑒 = 0 ⇔ 𝐴𝑒 𝑠𝑡 2
𝑠 + 𝑠+ =0
𝐿 𝐿𝐶 𝐿 𝐿𝐶

Second-order equation: Since 𝑖 = 𝐴𝑒 𝑠𝑡 is the assumed solution we are trying to find, only the
expression in parentheses can be zero:
𝑑2 𝑖 𝑅 𝑑𝑖 𝑖
2
+ + =0 𝑅 1
𝑑𝑡 𝐿 𝑑𝑡 𝐿𝐶
𝑠2 + 𝑠+ =0 → characteristic equation
𝐿 𝐿𝐶

Second-Order Circuit 23
 Finding Solution of Second-Order Equation
Characteristic equation of second-order differential equation:

𝑅 1
𝑠2 + 𝑠+ =0
𝐿 𝐿𝐶
The roots of characteristic equation determine the characteristic of
current 𝑖. The two roots are:
𝑠1 , 𝑠2 : frekuensi natural [Np/s,
𝑅 neper per second]
Second-order equation: 2 𝛼=
𝑅 𝑅 1 2𝐿 𝜔0 : frekuensi resonansi atau
𝑠1,2 =− ± − frekuensi natural tidak
𝑑2 𝑖 𝑅 𝑑𝑖 𝑖 2𝐿 2𝐿 𝐿𝐶 teredam [rad/s, radian
+ + =0 1 per second]
𝑑𝑡 2 𝐿 𝑑𝑡 𝐿𝐶 𝜔0 =
𝐿𝐶 𝛼 : frekuensi neper atau
faktor redaman
𝑠1,2 = −𝛼 ± 𝛼 2 − 𝜔02 𝛼
[Np/s, neper per second]
𝜁= 𝜁 : rasio redaman
Second-Order Circuit 𝜔0 24
 Finding Solution of Second-Order Equation
The two values of s indicate that there are two possible solutions for
current 𝑖, each of which is of the form of the assumed solution:

𝑖1 = 𝐴1 𝑒 𝑠1𝑡 , 𝑖2 = 𝐴2 𝑒 𝑠2𝑡

Thus, the natural response of the series RLC circuit:

𝑖 𝑡 = 𝐴1 𝑒 𝑠1𝑡 + 𝐴2 𝑒 𝑠2𝑡

where constant 𝐴1 and 𝐴2 are determined from the initial values 𝑖 0

Second-order equation: and 𝑑𝑖 0 Τ𝑑𝑡.

𝑑 2 𝑖 𝑅 𝑑𝑖 𝑖 There are three types of solutions:

2
+ + =0
𝑑𝑡 𝐿 𝑑𝑡 𝐿𝐶 1. 𝛼 > 𝜔0 → overdamped
2. 𝛼 = 𝜔0 → critically damped
3. 𝛼 < 𝜔0 → underdamped
Second-Order Circuit 25
 Overdamped Case (𝛼 > 𝜔0 )
𝛼 > 𝜔0 ⟹ 𝐶 > 4𝐿Τ𝑅2
Both roots are negative and real.

𝑠1 = −𝛼 + 𝛼 2 − 𝜔02

𝑠2 = −𝛼 − 𝛼 2 − 𝜔02

𝑖 𝑡 = 𝐴1 𝑒 𝑠1𝑡 + 𝐴2 𝑒 𝑠2𝑡

Second-Order Circuit 26
 Critically Damped Case (𝛼 = 𝜔0 )
𝛼 = 𝜔0 ⟹ 𝐶 = 4𝐿Τ𝑅2
Real identical roots, less than 0.

𝑠1 = 𝑠2 = −𝛼

𝑖 𝑡 = 𝐴2 + 𝐴1 𝑡 𝑒 −𝛼𝑡

Second-Order Circuit 27
 Underdamped Case (𝛼 = 𝜔0 )
𝛼 < 𝜔0 ⟹ 𝐶 < 4𝐿Τ𝑅2
complex roots with real part less than 0.
𝑠1 = −𝛼 + − 𝜔02 − 𝛼 2 = −𝛼 + 𝑗𝜔𝑑

𝑠2 = −𝛼 − − 𝜔02 − 𝛼 2 = −𝛼 − 𝑗𝜔𝑑

𝑖 𝑡 = 𝑒 −𝛼𝑡 𝐵1 cos 𝜔𝑑 𝑡 + 𝐵2 sin 𝜔𝑑 𝑡

𝑗 = −1 and 𝜔𝑑 = 𝜔02 − 𝛼 2 , damped frequency

Second-Order Circuit 28
 Conclusions
• To determine if the circuit is overdamped, critically damped, or
underdamped, we need to find the damping factor α and the natural
frequency ω0
R 1
•   2 L ,   LC : The larger the resistor, the larger the damping factor; the
0

natural frequency is independent of the resistor value.

• When the resistor is of small value, the circuit is in the underdamped
condition and a ringing waveform appears which indicates that the energy
stored in capacitor and inductor is transferred back and forth between
them
• For an RLC circuit with zero resistor value, the circuit is lossless and the
voltage yields an oscillating waveform; the energy between capacitor and
inductor is transferred back and forth between them.
Second-Order Circuit 29
 Example (1)
• In the circuit, R = 40 W, L = 4 H, and C = 1/4 F. Calculate the characteristic roots of
the circuit. Is the natural response overdamped, underdamped, or critically damped?

We first calculate
R 40 1 1
   5, 0   1
2 L 2 ( 4) LC 1
4
4
The roots are
s1, 2     2   2  5  25  1
0

or
s1  0.101, s2  9.899
Since   0 , the response is overdamped.
Second-Order Circuit 30
 Example (2)
Find i(t) in the circuit shown. Assume that the circuit has reached
steady state at t = 0-.
For t < 0, capacitor: open circuit,
inductor: shunted circuit
10
i (0)   1A, v(0)  6i (0)  6V
46
For t > 0,
R 9 1 1
   9, 0    10
2 
2L 1 LC 1 1

 2 2 50
s1, 2     2   2  9  81  100
0

s1, 2  9  j 4.359
Second-Order Circuit 31
 Example (2)
Hence, the response is underdamped ( α < ω )
i (t )  e 9t ( A1 cos 4.359t  A2 sin 4.359t ) i (t )  e 9t (cos 4.359t  0.6882 sin 4.359t )A
i (0)  1  A1
di 1
  Ri (0)  v(0)  2[9(1)  6]  6A/s
dt t 0 L

di
 9e 9t ( A1 cos 4.359t  A2 sin 4.359t )
dt
 e 9t (4.359)( A1 sin 4.359t  A2 cos 4.359t )

 6  9( A1  0)  4.359(0  A2 )
 6  9  4.359 A2  A2  0.6882 Second-Order Circuit 32
The Source-Free Parallel RLC Circuit

Second-Order Circuit 33
The Source-Free Parallel RLC Circuit
1. Initial condition: 2. KCL at node v:
1 0
𝑖 0 = න 𝑣 𝑡 𝑑𝑡 = 𝐼0
𝐿 −∞ 𝑣 1 𝑡 𝑑𝑣
+ න 𝑣 𝜏 𝑑𝜏 + 𝐶 =0
𝑣 0 = 𝑉0 𝑅 𝐿 −∞ 𝑑𝑡

1 𝑑𝑣 1 𝑑2 𝑣
⟺ + 𝑣+𝐶 2 =0
𝑅 𝑑𝑡 𝐿 𝑑𝑡

𝑑 2 𝑣 1 𝑑𝑣 1
⟺𝐶 2+ + 𝑣=0
𝑑𝑡 𝑅 𝑑𝑡 𝐿

𝒅𝟐 𝒗 𝟏 𝒅𝒗 𝟏
⟺ 𝟐+ + 𝒗=𝟎
𝒅𝒕 𝑹𝑪 𝒅𝒕 𝑳𝑪
Second-Order Circuit 34
 Finding Solution of Second-Order Equation
We obtain the charcteristics equation by replacing the first derivative by
𝑠 and the second derivative by 𝑠 2 .

The characteristic equation is obtained as:

2
1 1
𝑠 + 𝑠+ =0
𝑅𝐶 𝐿𝐶

The roots of the characteristics equation are:

Second-order equation: 2
1 1 1
𝑠1,2 =− ± − = −𝛼 ± 𝛼 2 − 𝜔02
𝑑2 𝑣 1 𝑑𝑣 1 2𝑅𝐶 2𝑅𝐶 𝐿𝐶
+ + 𝑣=0
𝑑𝑡 2 𝑅𝐶 𝑑𝑡 𝐿𝐶 where: 𝑠1 , 𝑠2 : frekuensi natural [Np/s, neper per second]
𝑅 1 𝜔0 : frekuensi resonansi atau frekuensi natural
𝛼= , 𝜔0 = tidak teredam [rad/s, radian per second]
2𝐿 𝐿𝐶 𝛼 : frekuensi neper atau faktor redaman
[Np/s, neper per second]
Second-Order Circuit 35
 Finding Solution of Second-Order Equation
There are three types of solutions:
• Overdamped Case ( > 0)
v(t )  A1e s t  A2 e s t
1 2

• Critically Damped Case ( = 0)

v(t )  ( A1  A2t )e t
• Underdamped Case ( < 0)
s1, 2    jd d  02   2
Second-order equation: v(t )  e t ( A1 cos d t  A2 sin d t )
A1 and A2 determined from initial conditions as below
𝑑2 𝑣 1 𝑑𝑣 1
+ + 𝑣=0 V0 dv(0)
𝑑𝑡 2 𝑅𝐶 𝑑𝑡 𝐿𝐶  I0  C 0
R dt
dv(0) (V  RI 0 )
 0
Second-Order Circuit
dt RC 36
 Example (1)
• In the parallel circuit shown, find v(t) for t > 0, v(0) = 5V, i(0) = 0, L = 1 H, and
C = 10 mF. If R = 1.923Ω, R = 5 Ω, and R = 6.25 Ω.

Second-Order Circuit 37
 Example (1)
v(0) = 5V The corresponding response :
i(0) = 0 v(t )  A1e 2t  A2 e 50t
L=1H v(0)  5  A1  A2
C = 10 mF
dv (0) v(0)  Ri (0) 50
  3
 260
dt RC 1.923  10  10
Solution:
dv
Case 1: If R = 1.923Ω,  2 A1e 2t  50 A2 e 50t
dt
1 1
   26 ,
2 RC 2  1.923  10  10 3 At t = 0,

0 
1

1
 10  260  2 A1  50 A2
3
LC 1  10  10
From equations above, A1 =-0.2083 and A2 =5.208,
The roots of the characteristic equation :
s1, 2        2,  50
2 2 v(t )  0.2083e 2t  5.208e 50 t
0

Second-Order Circuit 38
 Example (1)
The response is critically damped
v(0) = 5V
i(0) = 0 v(t )  ( A1  A2t )e 10t
L=1H
C = 10 mF v(0)  5  A1 ,
dv (0) v(0)  Ri (0) 50
  3
 100
dt RC 5  10  10
Solution:
Case 2: If R = 5Ω, dv
 (10 A1  10 A2t  A2 )e 10t
dt
1 1
  3
 10 At t = 0,
2 RC 2  5  10  10
 100  10 A1  A2

  0  10, s1  s2  10 From equations above, A1 =5 and A2 =-50,

v(t )  (5  50t )e 10t V

Second-Order Circuit 39
 Example (1)
v(0) = 5V
i(0) = 0 v(t )  ( A1 cos 6t  A2 sin 6t )e 8t
L=1H
C = 10 mF v(0)  5  A1 ,
dv (0) v(0)  Ri (0) 50
  3
 80
dt RC 6.25  10  10
Solution:
Case 3: If R = 6.25Ω, dv
 (8 A1 cos 6t  8 A2 sin 6t  6 A1 sin 6t  6 A2 cos 6t )e 8t
dt
1 1
  3
8 At t = 0,
2 RC 2  6.25  10  10
 80  8 A1  6 A2

s1, 2     2   2  8  j 6
0
Hence, A1 =5 and A2 =-6.667,
v(t )  (5 cos 6t  6.667 sin 6t )e 8t V

Second-Order Circuit 40
Example (1)

Second-Order Circuit 41
 Example (2)
• Find v(t) for t > 0 in the RLC circuit shown When t < 0, the switch: open
Inductor: short circuit, Capacitor: open circuit
50 5
v(0)  (40)   40  25 V
30  50 8
40
i (0)    0.5 A
30  50
dv(0) v(0)  Ri (0) 25  50  0.5
  6
0
dt RC 50  20  10
1 1
  6
 500
2 RC 2  50  20  10
1 1
0   6
 354
LC 0.4  20  10
Second-Order Circuit 42
 Example (2)
v(t )  A1e 854t  A2 e 164t

v(0)  25  A1  A2  A2  25  A1
1 1
   500 dv
2 RC 2  50  20  10 6
 854 A1e 854t  164 A2 e 164t
1 1 dt
0   6
 354 dv(0)
LC 0.4  20  10  0  854 A1  164 A2 or
dt
s1, 2     2  02
0  854 A1  164 A2
 500  250,000  124,997.6
 500  354 A1  5.16, A2  30.16
s1  854, s2  146 v(t )  5.16e 854t  30.16e 164t V
Second-Order Circuit 43