Ch05 Transient Analysis 1s09

Chapter 5
Differential Equations
Definition: Differential equations are equations
Introduction to Differential that involve dependent variables and their
Equations derivatives with respect to the independent
variables.
Transient Analysis of Simple harmonic d 2u

+ ku = 0
motion: u(x) dx 2
First-Order Networks
Wave equation in three ∂ 2u ∂ 2u ∂ 2u 2
2 ∂ u
+ + = c
dimensions: u(x,y,z,t) ∂x 2 ∂y 2 ∂z 2 ∂t 2
Department of Electrical and Electronics Engineering
University of the Philippines - Diliman
Department of Electrical and Electronics Engineering EEE 33 - p2
Ordinary Differential Equations Ordinary Differential Equations

Definition: Ordinary differential equations We can classify all ODEs according to
(ODE) are differential equations that involve only order, linearity and homogeneity.
ONE independent variable.
The order of a differential equation is just the
Example:
d 2u( x ) highest differential term involved:
+ ku = 0
dx 2
d 2y dy
a2 + a1 + a0 = 0 2nd order
u(x) is the dependent variable dt 2 dt
x is the independent variable dx d 3x
=x 3 3rd order
dt dt
Department of Electrical and Electronics Engineering EEE 33 - p3 Department of Electrical and Electronics Engineering EEE 33 - p4
Linearity Linearity - Summary

The important issue is how the unknown variable
(ie y) appears in the equation. A linear equation Linear Non-linear
must have constant coefficients, or coefficients
which depend on the independent variable. If 2y y2 or sin( y )
y or its derivatives appear in the coefficient the
equation is non-linear. dy dy
y
dt dt
dy dy 2
+ y = 0 is linear +t = 0 is linear
dt dt ( 2 + 3 sin t) y (2 − 3 y 2 ) y
dx dy 2 2
+ x 2 = 0 is non-linear y + t = 0 is non-linear dy  dy 
dt dt t  
dt  dt 
Homogeniety Examples of Classification
Put all the terms of the differential equation which 1st Order
dy
involve the dependent variable on the left hand +y=0 Linear
side (LHS) of the equation. dx Homogeneous
Homogeneous: If there is nothing left on the 2nd Order

d2y
right-hand side (RHS), the equation is + cos( x) y 2 = sin( x ) Non-linear
homogeneous. (unforced or free) dx 2 Non-homogeneous
Nonhomogeneous: If there are terms left on 3rd Order

the RHS involving constants or the independent d 3y
5 − 4y = cos( x ) Linear
variable, the equation is nonhomogeneous (forced) dx 3 Non-homogeneous
Linear Differential Equations Linear Differential Equations

A linear ordinary differential equation describing Assume that we are given a network of passive
linear electric circuits is of the form
elements and sources where all currents and
dnx d n−1x dx voltages are initially known. At a reference instant
an + an −1 n −1 + ... + a1 + a0 = v ( t )
dt n
dt dt of time designated t=0, the system is altered in a
manner that is represented by the opening or
where closing of a switch.
an, an-1,…,a0 constants
Our objective is to obtain equations for currents
x(t) dependent variable (current or voltage)
and voltages in terms of time measured from the
t independent variable instant equilibrium was altered by the switching.
v(t) voltage or current sources
Solution to Differential Equations Solution to Differential Equations

1 R
Equation 2 can be integrated to give
In the network shown, the 2
+ R
switch is moved from position (3)
E
-
L ln i = − t+K
1 to position 2 at time t=0. L
After switching, the KVL equation is where ln means the natural logarithm (base e).
di The constant K can be expressed as ln k

L + Ri = 0 (1)
dt Thus, equation 3 can be written as
Re-arranging the equation to separate the
ln i = ln e − Rt / L + ln k (4)
variables, we get
di R
= − dt (2) We know that ln y + ln z = ln yz
i L
Solution to Differential Equations General and Particular Solutions
Equation 4 is equivalent to The general solution refers to a set of solutions
− Rt / L satisfying the differential equation.
ln i = ln ( ke ) (5)
A particular 1.5e-250t
Applying the antilogarithm we get solution fits the
specification of a e-250t
i = ke − Rt / L (6)
particular problem. 0.5e-250t
Equation 6 is known as the general solution. If
Assume in the
the constant k is evaluated, the solution is a previous circuit,
particular solution. R=1kΩ, L=4H.
First-Order Transients
Consider the homogeneous differential equation
dx
Transient Analysis of a + bx = 0
dt
First-Order Networks with initial condition x(0)=X0.
The solution can be shown to be an exponential of

Artemio P. Magabo the form
Professor of Electrical Engineering x = Kε st
where K and s are constants. Substitution gives
Department of Electrical and Electronics Engineering

asK ε st + bK ε st = 0
University of the Philippines - Diliman
After canceling the exponential term, we get Source-Free RL Network

b Consider the circuit shown. Let R
as + b = 0 or s=−
a i(0) = I0. From KVL, we get
i
Thus the solution is L
b di
− t
a L + Ri = 0
x = Kε dt
The constant K can be found using the given initial The solution can be found to be
condition. At t=0, we get
R
− t
x(0) = X 0 = Kε 0 = K i = Kε L
The final solution is At t=0, we get

b
− t
x = X 0ε a
t≥0 i(0) = I0 = Kε 0 = K
Substitution gives
R
Source-Free RC Network
− t
i( t ) = I 0 ε L Consider the circuit shown. Let R
vC(0) = V0. From KCL, we get
From Ohm’s Law, we get the resistor voltage. for t ≥ 0 i +
R
dv C 1 C vC
− t -
v R = Ri = RI 0 ε L C + vC = 0
dt R
The voltage across the inductor is given by
The solution can be shown to be
R
di − t 1
vL = L = −RI 0 ε L = − v R −
RC
t
dt v C = Kε
Note: Every current and voltage in an RL At t=0, we get
network is a decaying exponential with a
time constant of τ=L/R. v C (0) = V0 = Kε 0 = K
Substitution gives
1
The Exponential Function
− t 1
RC
v C ( t ) = V0 ε x(t) = X 0 ε
− t
τ
Given the function
From Ohm’s Law, we get the resistor current.
v V − t
1 When t=0, x(0) = X 0 ε 0 = X 0
iR = C = 0 ε RC When t=τ, x(τ) = X 0 ε −1 = 0.368 X 0
R R
The current in the capacitor is is given by When t=2τ, x(2τ) = X 0 ε −2 = 0 .135 X 0
dv C V − t
1
When t=3τ, x(3τ) = X 0 ε −3 = 0.050 X 0
iC = C = − 0 ε RC = −iR
dt R When t=4τ, x(4τ) = X 0 ε −4 = 0.018 X 0
Note: Every current and voltage in an RC
network is a decaying exponential with a When t=5τ, x(5τ) = X 0 ε −5 = 0.007 X 0
time constant of τ=RC.
Plot of the Exponential Function Comments:
1. When R is expressed in ohms, L in Henrys

X0 .. 1
.. - t and C in Farads, the time constant is in
.. x(t) = X0e τ t≥0 seconds.
..
.. 2. For practical circuits, the typical values of
..
.. the parameters are: R in ohms, L in mH,
... C in µF.
...
. .. 3. Typically, τ = L
. . .. . . .. . . . in msec
R
1 2 3 4 5 t τ τ = RC in µsec
Note: As seen from the plot, after t=5τ, or after 5 Note: For practical circuits, the exponential
time constants, the function is practically zero. function will decay to zero in less than 1 second.
A More General RL Circuit Next, find the time constant of the circuit.
The circuit shown has several resistors but only L 1
τ= = sec
one inductor. Given 4Ω 0.1H R ab 80
i1(0+)=I0=2 Amps,
find i1, i2, and i3 for i2 i3 i1 I0 Every current will be described by the exponential
t ≥ 0. 6Ω 3Ω 2Ω Kε −80t t≥0
First, determine the For example, we get
equivalent resistance
seen by the inductor.
4Ω a b i1 = K 1ε −80t t≥0
6(3) At t=0+, i1(0+)=I0=2 Amps. Thus, we get
R ab = 2 + 4 + 6Ω 3Ω 2Ω
6+3 i1(0+ ) = 2 = K1ε0 = K1
=8Ω
Thus, we find the current i1 to be A More General RC Circuit

−80 t
i1 = 2ε Amps t≥0 The circuit shown has several resistors but only
one capacitor. Given
The remaining currents, i2 and i3, can be found vC(0+)=V0=20 volts,
using current division. We get find i for t ≥ 0. 2KΩ
6kΩ + i 3kΩ
3 1 1µF vC
i2 = i1 = i1 -
3+6 3 First, determine the
or equivalent resistance
2 − 80t seen by the capacitor.
i2 = ε Amps t≥0
3 6k(3k ) 2KΩ
Similarly, we get R ab = 2k + 6kΩ 3kΩ
6k + 3k a
4 = 4 kΩ b
i3 = ε − 80t Amps t≥0
3
Next, find the time constant of the circuit. Thus, we find the Voltage vC to be
τ = R abC = (4kΩ)(1µF) = 4 msec vC = 20ε −250t volts t≥0
Any current or voltage will be described by the The current in the capacitor is described by
exponential dvC
Kε −250t t≥0 iC = C = −5ε −250t mA t≥0
dt
For example, we get Applying current division, we get the current i(t).
vC = Kε −250t t≥0 6k
i(t) = (-iC ) = 3.33 e- 250 t mA t≥0
6k + 3k
At t=0+, vC(0+)=V0=20 volts. Thus, we get
vC (0 ) = 20 = Kε0 = K
+
RL Network with Constant Source Transient Response: The solution of the homo-
R geneous differential equation; that is
In the circuit shown, the
switch is closed at t = 0. t=0
+ i dit
Find current i(t) for t ≥ 0. E L L + Rit = 0
- dt
For t ≥ 0, we get from
KVL The transient response for the RL circuit is
di R
L + Ri = E −
L
t
dt it = K ε
The solution of a non-homogeneous differential Steady-State Response: The solution of the
equation consists of two components: differential equation itself; that is
1. The transient response diss
2. The steady-state response
L + Riss = E
dt
The steady-state response is similar in form to the Complete Response: The sum of the transient
forcing function plus all its unique derivatives. For response and steady-state response.
constant excitation, the steady-state response is R
also constant. E − t
i(t) = iss + it = + Kε L t≥0
Let iss=A, constant R
diss
=0 Initial Condition: For t<0, i=0 since the switch is
dt open. At t=0+, or immediately after the switch is
closed, i(0+)=0 since the current in the inductor
Substitute in the differential equation
cannot change instantaneously.
0 + RA = E Evaluate K. At t=0+, we get
or
E E E
A= i(0+ ) = 0 = + Kε0 or K=−
R R R
Finally,we get Transient Response

R
E E −L t The transient response is the solution of the
i(t) = − ε t≥0
R R homogeneous differential equation.
A plot of the current for t ≥ 0 is shown below. (1) It is an exponential function whose time
E iss constant depends on the values of the
. . . . . . . . . . . ... electrical parameters (R, L and C);
R ....
i(t) (2) It is also called the natural response since it is
....
...
... a “trademark” of any network;
. . . . . . . . . . . ...
2 .... 4
.... t τ (3) It is independent of the source; and
it
(4) It serves as the transition from the initial
...
E ...
− steady-state to the final steady-state value.
R
Steady-State Response RC Network with Constant Source
R
The steady-state response is the solution of the In the circuit shown, the
original differential equation. switch is closed at t = 0. t=0
+ i +
(1) It is also called the forced response since its Assume vC(0)=V0. Find E C vC
vC(t) for t ≥ 0. - -
form is forced on the electrical network by the
applied source; For t ≥ 0, we get from KVL
(2) It is similar in form to the applied source plus Ri + vC = E
all its unique derivatives;
(3) It is independent of the initial conditions; and dvC
Since i = C , we get
(4) It exists for as long as the source is applied.
dt
dv
The forced response is the response that will be left after RC C + vC = E
the natural response dies out. dt
Transient Response: For an RC network, we get We get

1
−
RC
t 0+A =E or A =E
v C, t = Kε
Complete Response: Add the transient response
Steady-State Response: Since the forcing and steady-state response.
function is constant, the steady-state response is 1
− t
also constant. v C = v C ,ss + v C , t = E + Kε RC
Let vC,ss = A, constant

Evaluate K. At t=0+, we get
dvC,ss
=0 v C (0 + ) = V0 = E + K or K = V0 − E
dt
Substitute in
Finally,we get
dvC,ss 1
RC + vC,ss = E −
RC
t
dt v C (t) = E + (V0 − E)ε t≥0
L and C at Steady State Example: Find the 10Ω

current and voltages + vR - +
With all sources constant, then at steady-state, +
at steady state. 24V i vL L
all currents and voltages are constant. - -
I0 L iC C
+ vL -
Since the source is constant,
+ V0 - the inductor is shorted at
If the current is If the voltage is steady state.
constant, then constant, then 24
10Ω iss = = 2.4 A
dI0 dV0 10
vL = L =0 iC = C =0 + vR,ss - +
+ vR ,ss = 24 V
dt dt 24V iss vL,ss
- -
Note: With constant sources, L is short-circuited
and C is open-circuited at steady state condition. vL ,ss = 0
Example: Find the 10Ω Example: Find the 3Ω
current and voltages + vR - +
inductor current and
+
at steady state. 24V i vC C capacitor voltage at + + L iL
- - steady state. 24V - vC C
- 9Ω
Since the source is constant,
the capacitor is open-circuited At steady state, short
at steady state. the inductor and open
the capacitor. 3Ω
10Ω iss = 0
24
+ vR,ss - + iL ,ss = =2A + iL,ss
+ +
24V iss vC,ss vR ,ss = 0 12 24V - vC,ss
- - - 9Ω
vC,ss = 24 V v C , ss = 9iL , ss = 18 V
iL1
4Ω 4Ω
Example: Find the Example: The switch is
inductor currents closed at t=0. Find the t=0
+ +
8Ω + + i
and capacitor vC1 current i(t) for t ≥ 0.
24V + C3 vC3 12V - 10mH
voltages at - - vC2 iL2 -
steady state. - The transient current is
R
− t
Equivalent circuit at steady-state it = K ε L
= Kε − 400 t t≥0
IL1 IL 1 =0
4Ω The steady-state equivalent circuit for t ≥ 0
IL 2 =2A
4Ω
+ 8Ω + VC1 = 16 V
+
VC1 12
24V + C3 VC3 Iss = =3A Iss
-
- VC2 IL2 - VC 2 =0 4 +
12V
- VC 3 = 16 V -
The complete solution RL and RC Networks

i(t) = iss + it = 3 + Kε −400 t t≥0 The solution of a non-homogeneous differential
equation consists of two components: the transient
Initial condition: At t=0+, i(0+)=0 since the response and the steady-state response
inductor current cannot change instantaneously.
RL Network with RC Network with
Evaluate K: At t = 0+,
Constant Source Constant Source
i(0 + ) = 0 = 3 + Kε 0 −
R
t −
1
t
or i( t ) = A + Kε L
v ( t ) = A + Kε RC
K = −3
steady-state transient steady-state transient
Thus, we get response response response response
i(t) = 3 − 3ε −400 t A t≥0 With constant sources, L is short-circuited and C

is open-circuited at steady state condition.
Example: The switch has been in position 1 for a Equivalent circuit for t ≥ 0
10kΩ
long time. At t=0, the switch is moved to position
2. Find the current i(t) for t ≥ 0. From KVL, we get
+
5kΩ 1 2 10kΩ 1 t
1µF i E=6V
t=0
Ri +
C ∫
−∞
idt = E -
+ + +
12V vC 1µF i 6V At t=0+,
-
-
-
Ri(0 + ) + v C (0 + ) = E
or E − v C (0 + )
The circuit is at steady-state 5kΩ i(0 + ) =
condition prior to switching. R
+ + Since the capacitor voltage cannot change
- 12V vC,ss instantaneously,
vC,ss = 12 V = vC (0 ) - -
vC (0+ ) = vC (0- ) = 12 V
We get
Comments:
10kΩ 10kΩ
+ 6 − 12
i(0 ) = = −0 .6 mA - VR +
10k VC(0+) i
+ +
i +
=12V 1uF 6V VC 1uF 6V
- -
The transient response is -
1
− t 1. The actual current flows in the clockwise
it = K ε RC
= Kε −100 t t≥0 direction. The capacitor supplies the current.
The steady-state current is zero since the capacitor The 6-volt source is absorbing power.
will be open-circuited. Thus, the total current is 2. The voltages across the resistor and capacitor
equal to the transient current. Since i(0+)=-0.6 mA, can be found to be
we get
−100 t
v R = Ri(t) = −6 ε −100 t V t≥0
i(t) = −0 .6 ε mA t≥0 −100 t
v C = 6 − vR = 6 + 6ε V t≥0
Comments: Example: The network has reached steady-state

condition with the switch in position 1. At t=0, the
3. The energy stored in the capacitor decreases
switch is moved to position 2. Find i, vc1 and vC2
from 72 µJ to 18 µJ.
for t ≥ 0. Assume that capacitor C2 is initially
WC (0 + ) = 12 Cv C2 (0 + ) = 12 (1µF)(12 ) 2 = 72 µJ uncharged. 10kΩ 1 2 2.5kΩ
WC (∞ ) = 12 Cv C2 (∞ ) = 12 (1µF)( 6) 2 = 18 µJ t=0 +
+ +
100V 5µF vC1 i vC2 20µF
The resistor will dissipate a total energy of 18 µJ. - -
2 -
∞ v ∞ 36 − 200 t
WR = ∫ dt = ∫ ε dt = 18 µJ
0 R 0 10 k Ω 10kΩ
The circuit is at steady-state
The 6V source will absorb a total energy of 36 µJ. prior to switching. +
+
∞ ∞ 100V vC1,ss
WR = ∫ Vi dt = ∫ 6 ( −0.6ε −100 t mA )dt = 36 µJ vC1,ss = 100 V - -
0 0
2.5kΩ
Equivalent circuit at t=0+ The current for a source-free RC circuit is given by
+ 1
+ + − t
vC1(0 ) = 100 V vC1 (0+)
i(0+)
vC2 (0+) i(t) = Kε RC
= Kε −100 t t≥0
C1 C2
vC2(0+ ) = 0 - -
Since i(0+) = 40 mA, we get
From KVL, we get i(t) = 40 ε −100 t mA t≥0
+ + +
v C1 (0 ) = Ri(0 ) + v C2 (0 )
The voltages are
Substitution gives i(0+) = 40 mA.
2.5kΩ
v R = Ri(t) = 100 ε −100 t V t ≥ 0
Equivalent circuit for t ≥ 0
1 t 1 t
C eq = 4 µF
5µF
+
i
+
20µF
v C2 = ∫
C2 − ∞
idt = v C 2 (0 + ) +
C 2 ∫0 +
idt
- -
τ = RC eq = 10 ms = 20 − 20 ε −100 t V t≥0
v C1 = v R + v C2 3. The final energy stored in C1 and C2
= 20 + 80 ε −100 t
V t≥0 WC1 (∞) = 1
2
C1v 2C1 (∞) = 1 mJ
Comments: WC2 (∞) = 1
2
C 2 v 2C2 (∞) = 4 mJ
1. The current decays to zero but vC1 And vC2 do 4. The total energy lost is 20 mJ.
not decay to zero. At steady-state (t=∞),
5. The total energy dissipated by the resistor
VC1, ss = VC 2, ss = 20 V ∞ ∞
2. The initial energy stored in C1 and C2

WR = ∫ 0
i2Rdt = ∫
0
4ε − 200 t dt = 20 mJ
WC1 (0 + ) = 1
C1v 2C1 (0 + ) = 25 mJ Note: At t=0+, vC1=100 volts and vC2=0. Capacitor
2
C1 supplies the current that charges capacitor C2.
The current stops when vC1 = vC2 =20 V.
WC2 (0 + ) = 1
2
C 2 v 2C2 (0 + ) = 0
Example: The network has reached steady-state Equivalent circuit for t ≥ 0 1kΩ
condition with the switch closed. At t=0, the switch
is opened. Find i(t) The transient current is +
1kΩ t=0 2kΩ R 12V i 0.1H
− t -
for t ≥ 0. i t = Kε L
= K ε −10 , 000 t
+ +
12V i 0.1H 36V At steady-state, the inductor is short-circuited.
- -
Thus, the steady state current is 12 mA.
The complete response is
The circuit is at steady-
1kΩ 2kΩ
state prior to switching. i ( t ) = 12 + K ε −10 , 000 t mA t ≥ 0
12 36 + + Since i(0+) = 30 mA, we get K = 18 mA. The final
IL,ss = + 12V IL,ss
1k 2k - - 36V expression is
= 30 mA i ( t ) = 12 + 18ε −10 , 000 t mA t ≥ 0
First-Order RL and RC Circuits NOTES:
General Procedure 1. f(t) = f(∞) + [f(0+) - f(∞)] e-t/τ
1. Find f(0+), the initial value of the variable to forced response natural response
be solved.
2. Req is the thevenin resistance seen by the
2. Find f(∞), the final value of the variable to be capacitor or inductor.
solved.
3. If a switch changed state (closes or opens) at
Note: When solving for the initial and final values, treat the
capacitors as open circuits & the inductors as short circuits. t = t0, then
vC(t0+) = vC(t0-) iL(t0+) = iL(t0-)
3. Simplify the RC or RL circuit to get Req, Ceq or
Leq. The time constant τ is ReqCeq or Leq/Req. “The voltage across a “The current through an
capacitor cannot change inductor cannot change
4. The solution is: instantaneously.” instantaneously.”
f(t) = f(∞) + [f(0+) - f(∞)] e-t/τ All other voltages and currents can change instantaneously.
t=0 1 kΩ i (t)
R Step 2: Final conditions
Example: In the circuit,
vC1(0-) = 12 V + + After a very long time, iR(∞) = 0.
and vC2(0-) = 0 V. vC1 3 uF 6 uF vC2 Therefore, vC1(∞) = vC2(∞) or
_ _
Find vC1(t), vC2(t) and iR(t). Q1 Q 2
= → 2Q1 = Q 2
3u 6u
Step 1: Initial conditions
Initial charge stored = final charge stored
t = 0++ :
At att=0 1 kΩ 12 mA
v C1(0 + ) = v C1(0 − ) = 12V (12V)(3uF) = 36uC = Q1 + Q2 = Q1 + 2Q1
+ +
+ − ∴ Q1 = 12uC and Q2 = 24uC
12 V 3 uF 6 uF 0V v C2 (0 ) = v C2 (0 ) = 0V 1 kΩ 0 mA
_ _
Therefore, vC1(∞) = 4 V + +
v (0 + ) − v C2 (0 + ) 12 − 0
+ vC2(∞) = 4 V
4V 3 uF 6 uF 4V
iR (0 ) = C1 = = 12mA _ _
1kΩ 1k
Step 3: Find the time constant, τ

Req = 1 kΩ iR(t) = 12 e -t / 2ms mAiR
Ceq = 3 uF in series with 6 uF = 2 uF vC1(t) = 4 + 8 e -t / 2msvvC1V
C2
vC2(t) = 4 - 4 e -t / 2ms V
Therefore, τ = ReqCeq = (1 k)(2u) = 2 ms
Step 4: f(t) = f(∞) + [f(0+) - f(∞)] e-t/τ
iR(t) = 0 + [12 - 0] e-t / 2ms = 12 e -t / 2ms mA

vC1(t) = 4 + [12 - 4] e-t / 2ms
= 4 + 8 e -t / 2ms V
vC2(t) = 4 + [0 - 4] e-t / 2ms
=4-4e -t / 2ms V
2.4 kΩ
Example: Find the inductor t=0
iL(t) Step 3: Find the time constant, τ
current iL(t) and the
+ Req = 2.4 kΩ Leq = 80 uH
inductor voltage vL(t). 10 V vL(t)
80 uH
_ Therefore τ = Leq / Req = 33.33 ns
iL(0+) = iL(0-) = 0 vL(0+) = 10 V Step 4: f(t) = f(∞) + [f(0+) - f(∞)] e-t/τ
Step 2: Final conditions iL(t) = 4.167 + [0 - 4.167] e-t/33.33n

2.4 kΩ The inductor will behave like a = 4.167 - 4.167 e-t/33.33n mA
short circuit so
+
10 V 0V vL(∞) = 0 V vL(t) = 0 + [10 - 0] e-t/33.33n V
80 uH
_
iL(∞) = 10÷2400= 4.167 mA = 10 e-t/33.33n V
Forced response Transient response

Example: If the switch in the network closes at
i
t=0, find v0(t) for t>0.
iL(t) = 4.167 - 4.167 e-t/33.33n mA v
L 24V 2vA
L 4Ω
vL(t) = 10 e-t/33.33u V -+ -+
+ +
3A vA 4Ω 2F vo
- -

At t=0- 24V 2vA
4Ω vA(0-)=3A(4Ω)
-+ -+ = 12V
+ +
3A vA 4Ω vC(0-) vC(0-)= 2vA+24+vA
- -
= 60 V
1.6 1.8 2
-4
x 10
Determine vOC 24V 2vA

At t=0+, 4Ω
-+ -+
v0(0+) = vC(0+) = vC(0-) = 60V +
+
v0C = 24V 3A vA 4Ω vOC
Step 2: Final conditions - -
24V 2vA
4Ω Get iSC
-+ -+ 24V 2vA
vA,ss = 0 4Ω
+ + -+ -+ From KVL,
3A vA 4Ω vo v0,ss = 24V
- +
- 3A vA 4Ω 2vA + vA = -24
iSC
- vA = -8V
Step 3: Find the time constant, τ
Since we have a dependent source, the equivalent The two resistors are in parallel, thus
resistance seen by the capacitor can be obtained
by finding vOC/iSC 2iSC –24 –2vA = 0 iSC = 4 A
The equivalent resistance is Unit Step Forcing Function
Req = vOC ÷ iSC = 24V / 4A = 6Ω
0 t<0
The time constant is u(t) =  +
u(t) u(t)
1 t>0 _
τ = ReqC = 6Ω(2F)= 12sec
Step 4: f(t) = f(∞) + [f(0+) - f(∞)] e-t/τ u(t)
v0(t) = 24 + [60 - 24] e-t/12 V 1
= 24 + 36 e-t/12 V
t
Translated Step Function

Example Step Function Inverted in Time
5u(t)
0 t < to 1 t < to
5V u (t − to) =  u (to − t ) = 
0 t > to
+
5 u(t) V _
t
1 t > to
u(t-t0) u(t0-t)
t < 0: t > 0:
1 1
+
5V _
t0 t t0 t
Example Example: The circuit shown is initially at steady-

state condition. Formulate the expression for
2u(2-t) vC(t) and iR(t) for t>0.
3kΩ iR
2mA
2 u(2 - t)
+ +
mA vc
2 t 24u(t) – 24u(t-4ms) 1µF 6kΩ
-
-
2 - t > 0 or t < 2 s: 2 - t < 0 or t > 2 s:

Evaluate the forcing function:
24V 24V
24V 1
2 mA
t 4ms t 4ms t
24u(t) 24u(t-4ms) 24u(t) - 24u(t-4ms)
Time constant for 0<t<4ms 3kΩ iR
We need to evaluate the circuit using two time
intervals: 0 < t < 4ms , voltage source = 24V τ = R eq C + +
t > 4ms , voltage source = 0 = (2 K Ω )(1 µF) 24 V vC 1µF 6kΩ
-
-
= 2 msec
First time interval: 0 < t < 4ms
The transient response is of the form
At t<0, the circuit is in steady-state. The 3kΩ
and 6kΩ resistors will dissipate whatever energy v C , t = K1e -500t i R , t = K 2 e -500t
is initially stored in C, thus vC(0-) = 0.
Equivalent circuit at steady-state
At t = 0+: 6 3kΩ iR,ss
3kΩ iR(0+) vC,ss = (24 V) = 16V
vC(0+) = vC(0-) = 0 3+ 6 + +
+ + 24 V vC,ss 6kΩ
24V vC (0+)=0 1µF 6kΩ iR(0+) = 0 24V - -
-
- i R ,ss = = 2.67mA
3kΩ + 6kΩ
Complete Response Second time interval: t > 4ms

-500t
v C ( t ) = 16 + K1e V To get initial conditions, determine the voltage vC
-500t right before switching.
i R ( t ) = 2.67 + K 2 e mA
v C (4 ms - ) = 16 − 16e -500(0.004 ) ≈ 13.83 V
Evaluate the constants K1 and K2 using initial
conditions. At t = 4ms+
3kΩ
iR vC(4ms+) = vC(4ms-)
v C (0 + ) = 0 = 16 + K1 or K 1 = -16 = 13.83 V
vC(4ms+) +
i R (0 + ) = 0 = 2.67 + K 2 or K 2 = -2.67 13.83V - 1µF 6kΩ
iR(4ms+) = 13.83 ÷ 6k
Thus, we get = 2.305 mA
v C ( t ) = 16 − 16e -500t V 0 < t < 4 msec Note:
i R (4ms− ) = 2.67 − 2.67e-500(0.004) i (4ms− ) ≠ i (4ms+ )
i R ( t ) = 2.67 − 2.67 e -500t mA 0 < t < 4 msec R R
≈ 2.31 mA
Transient and Steady-State Response

Equivalent circuit for t ≥ 4 ms. iR
3kΩ i
Req = 3kΩ || 6kΩ = 2KΩ iL(t) = 4.167 - 4.167 e-t/33.33n mA
v
L
L
+ iL(0+)=0A iL(∞)=4.167mA
vC 1µF
τ ' = R eq C = ( 2 K Ω )(1µ F) -
6kΩ
vL(t) = 10 e-t/33.33u V
= 2 msec Transient vL(0+)=10V vL(∞)=0V
response Steady-state
This is a source-free network, so at steady-state
Response
i’R,ss=0 and v’C,ss=0.
Let t=t’+4 ms. For t’ ≥ 0, the capacitor voltage
and resistor current is described by
v C ( t ' ) = 13.83e -500t' V, t' > 0
i R ( t ' ) = 2.305e -500t' mA, t' > 0 1.6 1.8 2
-4
x 10
τ=33.33 ns 5τ=1.67x10-4 s
Example: The circuit shown is initially at steady- Thus, the expression for vC and iR for t>0
state condition. Formulate the expression for
vC(t) and iR(t) for t>0. 16 – 16e-500t V, t < 4ms
3kΩ iR vC(t) =
13.83e-500(t-4ms) V, t > 4ms
+ +
24u(t) – 24u(t-4ms) vc 1µF 6kΩ
- 2.67 – 2.67e-500t mA, t < 4ms
- iR(t) =
2.305e-500(t-4ms) mA, t > 4ms
Evaluate the forcing function:
24V 24V
24V 1
t 4ms t 4ms t
24u(t) 24u(t-4ms) 24u(t) - 24u(t-4ms)
V
VCC(t)
(t) iR(t)
(V)
(V) (mA)
16 – 16e-500t V Graph for vc(t)

2.67 – 2.67e-500t mA
Graph for iR(t)
16 – 16e-500t V, t < 4ms
13.83e-500(t-4ms) V, t > 4ms 2.67 – 2.67e-500t mA, t < 4ms
2.305e-500(t-4ms) mA, t > 4ms
τ=2 ms
5τ= 10 ms τ=2 ms
5τ= 10 ms
13.83e-500(t-4ms)
2.305e-500(t-4ms) mA
t t
50 Ω
Equivalent of Switching Example: Find i(t) i
for t>0. 30 Ω
v(t) 2 u(t) 2H
+
Vu(t-t0) General General V _ 100 u(t)
+
_ Network V +
_ Network
t0 t When t < 0, the sources At t = 0+, the sources
Equivalent circuit are off, thus i(0-) = 0 A turn on 50 Ω
50 Ω i
i(t)
i 30 Ω
Iu(t-t0) General General
30 Ω 2H
I 2A
Network Network 2H +
_ 100 V
t0 t
Equivalent circuit
i(0+) = i(0-) = 0 A
Final condition: After a very long time, the Sinusoidal Sources
inductor will behave like a short circuit
Consider the network shown. R
50 Ω From KCL, i + ix = 2 Let v(t)=Vm sin ωt where Vm t=0
i +
KVL yields and ω are constant.
30 Ω v(t) i L
2A ix -100 – 30ix + 50i = 0 For t ≥ 0, we get from KVL -
+
_ 100 V Thus, i = 2 A and ix = 0 di
i(∞) = 2 A
L + Ri = Vm sin ω t
dt
Time constant:
Leq = 2 H The transient response is
τ = 0.025 s −
R
t
L
Req = 30 + 50 = 80 Ω it = K ε t≥0
Finally, i(t) = i(∞) + [i(0+) – i(∞)]e-t/τ Remember: The transient response is independent
i(t) = 2 + (0 – 2) e-t/0.025 = 2 - 2 e-40t A of the source.
The steady-state response is the solution of the Substitution gives

differential equation itself. Let
ωLK 1 cos ωt - ωLK 2sin ωt
iss = K1 sin ω t + K 2cos ω t
+ RK 1sin ωt + RK 2cos ωt = Vm sin ωt
diss
= ω K1 cos ω t - ω K 2sin ω t
dt Comparing coefficients, we get
Substituting in the original equation
Vm = RK 1 − ωLK 2 and 0 = RK 2 + ωLK1
di
L + Ri = Vm sin ω t
dt
gives Solving simultaneously, we get
ωLK 1 cos ωt - ωLK 2sin ωt RVm − ω LVm
K1 = and K2 =
+ RK 1sin ωt + RK 2cos ωt = Vm sin ωt R + ω2L2
2
R 2 + ω2L2
The steady-state response is

iss = K1 sin ω t + K 2cos ω t
Substituting K1 and K2
Vm
iss = (R sin ω t − ω L cos ω t)
R + ω2L2
2
The complete response is

Vm
i(t) = (R sin ω t − ω L cos ω t)
R + ω2L2
2
R
− t
L
+ Kε t≥0

Ch05 Transient Analysis 1s09

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Ch05 Transient Analysis 1s09

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Chapter 5

Transient Analysis of Simple harmonic d 2u

Ordinary Differential Equations Ordinary Differential Equations

Linearity Linearity - Summary

Homogeneous: If there is nothing left on the 2nd Order

Nonhomogeneous: If there are terms left on 3rd Order

Linear Differential Equations Linear Differential Equations

Solution to Differential Equations Solution to Differential Equations

di The constant K can be expressed as ln k

The solution can be shown to be an exponential of

Department of Electrical and Electronics Engineering

After canceling the exponential term, we get Source-Free RL Network

The final solution is At t=0, we get

Plot of the Exponential Function Comments:

1. When R is expressed in ohms, L in Henrys

Thus, we find the current i1 to be A More General RC Circuit

Finally,we get Transient Response

Transient Response: For an RC network, we get We get

Let vC,ss = A, constant

L and C at Steady State Example: Find the 10Ω

The complete solution RL and RC Networks

i(t) = 3 − 3ε −400 t A t≥0 With constant sources, L is short-circuited and C

Comments: Example: The network has reached steady-state

v C1 = v R + v C2 3. The final energy stored in C1 and C2

2. The initial energy stored in C1 and C2

Step 3: Find the time constant, τ

Step 4: f(t) = f(∞) + [f(0+) - f(∞)] e-t/τ

iR(t) = 0 + [12 - 0] e-t / 2ms = 12 e -t / 2ms mA

Step 2: Final conditions iL(t) = 4.167 + [0 - 4.167] e-t/33.33n

Forced response Transient response

Step 1: Initial conditions

Determine vOC 24V 2vA

Step 4: f(t) = f(∞) + [f(0+) - f(∞)] e-t/τ u(t)

v0(t) = 24 + [60 - 24] e-t/12 V 1

Translated Step Function

Example Example: The circuit shown is initially at steady-

2 - t > 0 or t < 2 s: 2 - t < 0 or t > 2 s:

Complete Response Second time interval: t > 4ms

Transient and Steady-State Response

16 – 16e-500t V Graph for vc(t)

The steady-state response is the solution of the Substitution gives

The steady-state response is

The complete response is

Department of Electrical and Electronics Engineering EEE 33 - p95

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