Lecture06 - Higher Order Transient Anaysis

Transient Analysis of
Higher-Order Networks
BY: Artemio P. Magabo

Professor of Electrical Engineering, UP EEEI
Elmer R. Magsino MS EE CIRCUITS 1 p1

COE Revised 2009 Education for a Fast Changing World
Second-Order Transients
Consider the homogeneous differential equation
d2 x dx
a 2 +b + cx = 0
dt dt
dx
with initial conditions x(0)=X0 and (0) =X’0.
xt
The solution can be shown to be an exponential of
the form
x = Kε st
where K and s are constants. Substitution gives
as 2K ε st + bsK ε st + cK ε st = 0
1
After canceling the exponential term, we get the
characteristic equation
as2 + bs + c = 0
Using the quadratic formula, we get the two roots
- b ± b2 - 4ac
s1 , s2 =
2a
Assuming the roots are real and distinct, the
solution will consist of two exponentials. Thus
x(t) = K1ε s1t + K2ε s2t
dx
K1 and K2 can be evaluated using x(0) and (0).
dt
Series RLC Network

Consider the circuit R L
shown. From KVL, we t=0 +
+
get for t ≥ 0 i vC C
E
- -
di 1
L + Ri + ∫ idt = E
dt C
Differentiating, we get
d2i di 1
L 2 +R + i=0
dt dt C
This is a homogeneous second-order differential
equation.
2
The characteristic equation is
1
Ls2 + Rs +=0
or
C
R 1
s2 + s + =0
L LC
From the quadratic formula, we get the two roots
2
R ⎛R ⎞ 1
s1 , s2 = − ± ⎜ ⎟ −
2L ⎝ 2L ⎠ LC
Note: There are three types of root depending on
the value of the term inside the square root sign.
1. Overdamped Case: The roots are real and

distinct when
2
⎛R⎞ 1
⎜ ⎟ >
⎝ 2L ⎠ LC
The solution is the sum of two exponential terms
x ( t ) = K 1 ε s1 t + K 2 ε s 2 t
2. Critically Damped Case: The roots are real but
repeated when
2
⎛R⎞ 1
⎜ ⎟ =
⎝ 2L ⎠ LC
3
The solution can be shown to be
x ( t ) = (K 1 t + K 2 )ε st
3. Underdamped Case: The roots are complex
conjugates when
2
⎛R⎞ 1
⎜ ⎟ <
⎝ 2L ⎠ LC
If the roots are s1 , s2 = -α ± jωd, the solution can
be shown to be
x( t ) = ε - α t (K 1 cos ω d t + K 2 sin ω d t )
Comparison of Responses
overdamped
critically damped
underdamped
underdamped envelope response
e-αt

4
Example: The capacitor is initially uncharged. At
t=0, the switch is closed. Find
di + R 1H
i(0+) and (0 ).
dt t=0 +
+
12V i vC C
From KVL, we get - -
for t ≥ 0,
di 1
L + Ri + ∫ idt = E
dt C
At t=0+, i(0+)=0. Also, we are given that vC(0+)=0.
Substitution gives
di + E
(0 ) = = 12 A/s
dt L
Example: The capacitor 10Ω 1H

is initially uncharged. At t=0 +
t=0, the switch is + 1
12V i vC F
closed. Find i(t) - - 16
for t ≥ 0.
From KVL, we get for t ≥ 0,
di
+ 10i + 16 ∫ idt = 12
1
dt
Differentiating the d 2i di
equation, we have + 10 + 16i = 0
dt 2
dt
The characteristic equation is thus
s2 + 10s + 16 = 0 CIRCUITS 1 p10
Elmer R. Magsino MS EE
5
10Ω 1H
The characteristic
equation is + +
1
12V i vC F
2
s + 10s + 16 = 0 - - 16
whose roots are s1=-2 and s2=-8. Thus, we get
i(t) = K1ε - 2t + K2ε - 8t

and di
= −2K1ε - 2t − 8K2ε - 8t
dt
From the previous example, we’ve found that at
t=0+, di + E
i(0+)=0, vC(0+)=0 and (0 ) = = 12 A/s
dt L
di
The initial conditions are i(0+)=0 and (0+ )=12
A/sec. Substitution gives dt
i(0+ ) = 0 = K1 + K2
di +
(0 ) = 12 = -2K1 - 8K2
dt
Solving simultaneously, we get K1=2 and K2=-2.

Thus,
i(t) = 2ε -2t - 2ε -8t Amp t ≥ 0
Note: For an over-damped case, the solution
consists of two distinct exponential terms.

6
12V i vC F
for t ≥ 0.
The characteristic equation can be shown to be
s2 + 8s + 16 = 0
whose roots are s1=-4 and s2=-4. Thus, we get
i(t) = K1ε -4t + K2ε -4t = K3ε -4t

A single exponential solution will not work since the
original differential equation is second-order.
Assume i(t) = y(t)ε -4t . Differentiating twice, we get

di
= -4y(t) ε -4t + y' (t) ε -4t
dt
d2i
2
= 16 y(t) ε -4t - 8 y' (t) ε -4t + y' ' (t) ε -4t
dt
The original differential equation is
d2i di
+ 8 + 16 i = 0
dt 2 dt
Substitution gives
0 = 16y(t) ε-4t - 8y'(t) ε-4t + y' ' (t) ε-4t
- 32y(t)ε -4t + 8y' (t) ε-4t + 16y(t)ε-4t
7
Simplifying, we get
y' ' (t) ε -4t = 0

or
y'' (t) = 0
Integrating twice, we get
y' (t) = K 1
or
y(t) = K1t + K2
Finally, the solution is
i(t) = y(t)ε -4t

or
i(t) = K1t ε -4t + K2 ε -4t
i(t) = K1t ε -4t + K2 ε -4t

Differentiating the solution, we get
di
= -4K1t ε -4t + K1ε -4t - 4K2ε -4t
dt
di
i(0+ ) = 0 = 0 + K2
di +
(0 ) = 12 = 0 + K1 - 4K 2
dt
We get K1=12 and K2=0. Thus
i(t) = 12 tε - 4t Amp t ≥0
8
12V i vC F
for t ≥ 0.
The characteristic equation can be shown to be
s2 + 6s + 16 = 0
whose roots are s1, s2=-3 ± j2.65. Thus, we get
i(t) = K1ε (-3 + j2.65)t + K2ε (-3 - j2.65)t

or
i(t) = ε -3t (K1ε j2.65 t + K 2 ε - j2.65 t )
Euler’s Identities:
(1) ε jx = cos x + j sin x
(2) ε − jx = cos x - j sin x
To prove the first identity, let y=cos x + j sin x.
dy
= -sin x + j cos x
dx
and since j = − 1, the equation can be re-written
as
dy
= j2 sin x + j cos x
dx
= j (cos x + j sin x)
9
We get
dy
= jy
dx
or 1
dy = j dx
y
Integrating both sides, we get
ln y = j x + K
Evaluate K. When x=0, y=1.
ln 1 = j0 + K or K=0
jx
Thus we get ln y = jx, or ε = cos x + j sin x
Note: The other Euler’s identity can be verified
following the same analysis.
Back to the expression for the current
i(t) = ε -3t (K1ε j2.65 t + K 2 ε - j2.65 t )

From Euler’s identities, we get
i(t) = ε −3t [ K1 cos ωt + jK1 sin ωt

+ K 2 cos ωt − jK 2 sin ωt]
where ω = 2.65. Combining the two cosine terms
and the two sine terms, we get
i(t) = ε−3t [ K3 cosωt + K4 sinωt ]

where K3 = K1+K2 and K4 = j(K1-K2).
10
Differentiate to get
di
= ε − 3t [−ωK 3 sin ωt + ωK 4 cos ωt ]
dt
− 3ε −3t [ K 3 cos ωt + K 4 sin ωt ]
di
i(0+ ) = 0 = K3
di +
(0 ) = 12 = ωK 4 or K 4 = 4.54
dt
We get
i(t) = 4.54ε −3t sin 2.65 t Amp t≥0

Plot of the Currents
R=6Ω
R=8Ω
R=10Ω

11
Parallel RLC Network
Consider the circuit
shown. From KCL, we +
get for t ≥ 0 I R L v C
-
dv 1 1
C + v + ∫ vdt = I
dt R L
d2v 1 dv 1
C 2 + + v=0
dt R dt L
This is a homogeneous second-order differential
equation.

1 1
Cs2 + s+ =0
or
R L
1 1
s2 + s+ =0
RC LC
From the quadratic formula, we get the two roots
2
1 ⎛ 1 ⎞ 1
s1, s2 = - ± ⎜ ⎟ −
2RC ⎝ 2RC⎠ LC
Note: We get three types of root depending on the
value of the term inside the square root sign.
12
Higher-Order Transients
Consider the homogeneous differential equation
dnx dn −1x dx
an n + an −1 n −1 + ... + a1 + a0 x = 0
dt dt dt
dx
with initial conditions x(0)=X0, (0) =X’0
n −1
xt
d2 x '' , … d x
(0) = X 0 n −1
(0) = X '0''''''
dt 2
dx
The solution can be shown to be an exponential of
the form st
x = Kε
where K and s are constants.
Substitution gives
ansnKε st + an −1sn −1Kε st + ... + a1sKε st + a0Kε st = 0

After canceling the exponential term, we get the
characteristic equation.
ansn + an −1sn −1 + ... + a1s + a0 = 0
This is a polynomial of nth order and there will be n
roots. The type of response will depend on the
values of these roots. Assuming all the n roots are
real and distinct, the solution can be shown to be
x = K1ε s1t + K 2 ε s2t + ... + K n −1ε sn−1t + K nε snt

13
Example: Consider the differential equation
d3v d2 v dv
3
+ 14 2 + 56 + 64v = 0
dt dt dt
dv
with initial conditions v(0)=7 volts, (0)=-24 v/s
2 dt
dv
and (0)=112 v/s2. Find v(t).
dt 2
s3 + 14s2 + 56s + 64 = 0
The roots of the characteristic equation can be
shown to be s1=-2, s2=-4 and s3=-8.

Since the roots are real and distinct, the solution is
v(t) = K1ε-2t + K2ε-4t + K3ε-8t

Differentiating twice, we get
dv
= −2K1ε-2t − 4K2ε-4t − 8K3ε-8t
dt
d2v
2
= 4K1ε-2t + 16K2ε-4t + 64K3ε-8t
dt
dv d2v
Evaluate the expressions for v, and 2 at t=0
and use the initial conditions. dt dt

14
We get
v(0) = 7 = K1 + K2 + K3
dv
(0) = −24 = −2K1 − 4K2 − 8K3
dt
d2v
(0) = 112 = 4K1 + 16K2 + 64K3
dt2
Solving simultaneously, we get K1=4, K2=2 and
K3=1. The final solution is
v(t) = 4ε-2t + 2ε-4t + 1ε-8t V

Example: Consider the differential equation

d3i d2i di
3
+ 10 2 + 32 + 32i = 0
dt dt dt
s3 + 10s2 + 32s + 32 = 0
The roots of the characteristic equation can be
shown to be s1=-2, s2=-4 and s3=-4. The solution
is
i(t) = K1ε-2t + K2tε-4t + K3ε-4t
The constants K1, K2 and K3 can be evaluated if
the values of i, di/dt and d2i/dt2 are known at t=0.
15
Getting the Differential Equation
1. Using nodal analysis or loop analysis, write the
KCL or KVL equations that describe the circuit.
2. Differentiate the equations, if necessary, to
eliminate any integral expressions.
3. In every equation, replace the derivatives with
operators.
4. Eliminate all variables, except one, using any
appropriate method.
5. Simplify as necessary and replace the operators
with the corresponding derivative terms.

8Ω 1H
Example: Find the
differential equations +
that describe the 1
v(t) i1 F i2 10Ω
mesh currents i1 and - 16
i2 in the network
shown.
First, write the mesh equations for the circuit.
t
Mesh 1: 8i1 + 16 ∫ (i1 − i2 )dt = v(t)
−∞
di2 t
Mesh 2: + 10i2 + 16 ∫ (i2 − i1 )dt = 0
dt −∞
Then, differentiate the mesh equations to eliminate

the integrals.
16
We get
di1 d
8 + 16i1 − 16i2 = v(t) (a)
dt dt
d2i2 di
− 16i1 + 2 + 10 2 + 16i2 = 0 (b)
dt dt
d
Using operators, let D= . Substitution gives
dt
(8D + 16) i1 − 16i2 = Dv(t) (1)
− 16i1 + (D2 + 10D + 16)i2 = 0 (2)

Next, multiply equation (1) by 16 and equation (2)
by (8D+16), then add the resulting equations. This
will eliminate the current variable i1.
16 (8D + 16) i1 − 16i2 = Dv(t) (1)
(8D+16) − 16i1 + (D2 + 10D + 16)i2 = 0 (2)
We get
(8D3 + 96D2 + 288D) i2 = 16Dv(t)
which simplifies to
(D2 + 12D + 36) i2 = 2v(t)

The differential equation for the current i2 is
d2i2 di2
+ 12 + 36 i2 = 2v(t)
dt 2 dt
17
Similarly, if we multiply equation (2) by 16 and
equation (1) by (D2+10D+16), then add the
resulting equations, we will eliminate the current
variable i2. We get
(8D3 + 96D2 + 288D) i1 = D(D2 + 10D + 16)v(t)
which simplifies to
(D2 + 12D + 36) i1 = 1

8
(D2 + 10D + 16)v(t)
The differential equation for current i1 is
d2i1 di1 d2v(t)

+ 12 + 36 i1 = 0.125
dt 2 dt dt 2
dv(t)
+ 1.25 + 2v(t)
Elmer R. Magsino MS EE dt CIRCUITS 1 p35
Alternative Procedure: First, solve for i1 from (b)

and differentiate the resulting equation. We get
d2i2 di2
i1 = 1
16
+ 5
8
+ i2
dt2 dt
and
di1 d3i2 d2i2 di2
= 1
16
+ 5
8
+
dt dt 3 dt2 dt
Next, substitute the equations in (a). We get
d2i2 di2
+ 12 + 36 i2 = 2v(t)
dt 2 dt
A similar procedure, applied on equation (a), will
result in the differential equation for current i1.
18
Example: The switch is moved from b to a at t=0.
Find the differential equations that describe the
voltages v1 and v2 for t ≥ 0.
a 4Ω +v2
+ b t=0 6Ω
v(t) + +v1 1
E F
- - 1H 4
From KCL, we get
for t ≥ 0
REF
v1 - v2
Node 1: + ∫ v1dt = 0 (1)
6
v2 - v(t) v2 − v1 1 dv2
Node 2: + + =0 (2)
4 6 4 dt
Differentiate (1) and re-write the equations. We get

1 dv1 1 dv2
+ v1 − =0
6 dt 6 dt
1 1 dv2 5 1
- v1 + + v2 = v(t)
6 4 dt 12 4
Simplify into
dv1 dv
+ 6v1 − 2 = 0 (D + 6)v 1 − Dv 2 = 0
dt dt
dv
- 2v1 + 3 2 + 5v2 = 3v(t)
dt
- 2v1 + (3D + 5)v2 = 3v(t)
19
Using operators, we get
(D + 6)v1 − Dv2 = 0 (1)

- 2v1 + (3D + 5)v2 = 3v(t) (2)
Multiply equation (1) by (3D+5) and (2) by D, then

add the resulting equations. This will eliminate the
variable v2. We get
(D2 + 7D + 10)v1 = Dv(t)

which yields the differential equation for v1.
d2 v1 dv1 d
+ 7 + 10 v1 = v(t)
dt 2 dt dt
Multiply equation (1) by 2 and (2) by (D+6), then

add the resulting equations. This will eliminate the
variable v1. We get
(D2 + 7D + 10) v2 = (D + 6)v(t)

or
d2 v2 dv d
2
+ 7 2 + 10v2 = v(t) + 6v(t)
dt dt dt

20
Example: At t=0, the switch is opened. Find the
differential equations that describe the currents i1
and i2 for t ≥ 0. t=0
For t ≥ 0, we get from KVL
4i1 + 20∫ (i1 − i2 ) dt = v(t) 1Ω 3Ω
1
di2 + i1 F i 1H
+ 20∫ (i2 − i1) dt = 0 v(t) 20 2
dt -
or di1 dv(t)
4 + 20i1 − 20i2 =
dt dt
2
d i2
+ 20i2 − 20i1 = 0
dt 2
Using operators, we get
(4D + 20 ) i1 − 20i2 = Dv (t) (1)

− 20i1 + (D2 + 20 ) i2 = 0 (2)
Multiply equation (1) by (D2+20) and (2) by 20,

then add the resulting equations. This will
eliminate the variable i2. We get
(D2 + 5D + 20 ) i1 = ( 14 D 2 + 5) v(t)
The differential equation for i1 is
d2i1 di1 d2 v(t)
+ 5 + 20 i1 = 1
4
+ 5 v(t)
dt 2 dt dt 2
21
Multiply equation (1) by 20 and (2) by (4D+20),
then add the resulting equations. This will
eliminate the variable i1. We get
(D2 + 5D + 20 ) i2 = 5v(t)
The differential equation for i2 is
d2i2 di2
+ 5 + 20 i2 = 5v(t)
dt 2 dt

Why Get Initial Conditions?

Complete Response:
1. Steady-state Response
2. Transient Response
Transient Response: General form is exponential
x = K1ε s1t + K 2 ε s2t + ... + K n −1ε sn−1t + K nε snt

where K1, K2, … Kn are arbitrary constants.
Answer: The initial conditions are necessary in the

determination of the numerical values of the
arbitrary constants K1, K2, … Kn.

22
Evaluating Initial Conditions
1. Assume switching operation at t=0.
2. Evaluate the inductor currents and capacitor
voltages at t=0-.
3. Find inductor currents and capacitor voltages
at t=0+.
4. Write the KVL and KCL equations describing the
network for t ≥ 0.
5. Use the KVL and KCL equations for t ≥ 0 and
their derivatives, plus the inductor currents
and capacitor voltages at t=0+ to evaluate
the required initial conditions.
Example: The circuit has reached steady-state

condition with the switch in position a. At t=0, the
switch is moved to position b. If the capacitor is
initially uncharged, find i(0+),
a 1kΩ
di + d2i +
(0 ) and 2 (0 ). b t=0
dt dt +
100V 0.1µF i 1H
-
The circuit is at steady

state for t<0. 1kΩ
100 +
i L,ss (0− ) = = 0.1 A 100V iL,ss
1k -
v C (0 − ) = 0 CIRCUITS 1 p46
23
From KVL, we get for t ≥ 0,
1kΩ
di 1
(1) L + Ri + ∫ idt = 0
dt C
0.1µF i 1H
whose derivative is
d2i di 1
(2) L 2 +R + i=0
dt dt C
At t=0+,
i(0 + ) = iL ,ss = 0.1 A
v C (0 + ) = 0
From (1), we get at t=0+

di + 0
+ +
L (0 ) + Ri(0 ) + v C (0 ) = 0
dt
which gives
di + R
(0 ) = − i(0 + ) = −100 A/s
dt L
From (2), we get
d2i 1 di + 1
2
(0 + ) = - [ R (0 ) + i(0 + )]
dt L dt C
= -900 kA/s 2
24
Example: The network is initially at steady-state
condition with the switch open. At t=0, the switch
is closed. Find i1(0+), i2(0+), t=0
di1 + di
(0 ) and 2 (0 + ) .
dt dt
10Ω 20Ω
+ 20Ω
120V i1 i2
- 1H
At t=0-, we get 1µF
10Ω
+ 120
20Ω iL (0- ) = =4A
120V +
30
- iL(0-) vC(0-)
-
v C (0 - ) = 20iL (0 − ) = 80 V
For t ≥ 0, we get from KVL

di1
(1) + 20i1 = 120 + 20Ω
20Ω
dt 120V i1 i2
- 1H
t 1µF
∫
6
(2) 20i2 + 10 i2dt = 120
−∞
At t=0+, we get
i1(0 + ) = iL (0- ) = 4 A
v C (0 + ) = v C (0 - ) = 80 V
From equation (2), we get
i2 (0+ ) = 1
20
[120 − vC (0 + )] = 2 A
25
di1 t
(1)
dt
+ 20i1 = 120 (2) 20i2 + 106 ∫−∞
i2dt = 120

di1 +
(0 ) = 120 − 20i1(0 + ) = 40 A/s
dt
di
To get an equation involving 2 , differentiate (2).
We get dt
di2
20 + 106 i2 = 0
dt
At t=0+, we get
di2 +
(0 ) = -100 kA/sec
dt CIRCUITS 1 p51
Example: The network is initially unenergized. At

t=0, the switch is closed. Determine i1(0+), i2(0+),
di1 + di t=0 C R2
(0 ) and 2 (0+).
dt dt
+
E i1 R1 i2 L
-
For t ≥ 0, we get from
KVL,
1
C∫
(1) i1dt + R1(i1 − i2 ) = E
di
(2) L 2 + (R1 + R 2 )i2 − R1i1 = 0
dt
26
1
C∫
(1) i1dt + R1(i1 − i2 ) = E
di
(2) L 2 + (R1 + R 2 )i2 − R1i1 = 0
dt
Since the circuit is initially unenergized, we know
that vC(0+)=0 and iL(0+)=0. Thus
i2 (0+ ) = 0
From (1), we get
vC(0+ ) + R1i1(0+ ) − R1i2(0+ ) = E

or E
i1(0+ ) =
R1 CIRCUITS 1 p53
1
C∫
(1) i1dt + R1(i1 − i2 ) = E
di
(2) L 2 + (R1 + R 2 )i2 − R1i1 = 0
dt
E
i2 (0+ ) = 0 i1(0+ ) =
R1
From (2), we get
di2 +
L (0 ) + (R1 + R 2 )i2 (0+ ) − R1i1(0+ ) = 0
dt
which gives
di2 + R E
(0 ) = 1 i1(0+ ) =
dt L L
27
1
C∫
(1) i1dt + R1(i1 − i2 ) = E
di
(2) L 2 + (R1 + R 2 )i2 − R1i1 = 0
dt
Differentiate equation (1). We get
1 di di
i1 + R1 1 − R1 2 = 0
C dt dt
At t=0+, we get
1 di di
i1(0+ ) + R1 1 (0+ ) − R1 2 (0+ ) = 0
C dt dt
or di1 + E E
(0 ) = − 2
dt L R1 C
Example: The network R2=1kΩ

has reached steady-
state condition with the + R1=2kΩ
i2 C1
switch open. At t=0, the E
- i1 1H
switch is closed. Find i1, i3 C2
di di di
i2, i3, 1 , 2 and 3 at
dt dt dt E=27V C2=2C1=2µF
t=0 .+
R2
Equivalent circuit at t=0-
+
- + + R1 vC1(0-)
iL (0 ) = 9 mA = iL (0 ) E -
- +
iL (0-) vC2(0-)
- - -
vC1(0 ) + vC2(0 ) = 18 V

28
For t<0, C1 and C2 are in series. Thus, iC1=iC2.
Since t
q = ∫−∞
idt
then qC1(0-)=qC2(0-). This means that at t=0-
C1vC1(0- ) = C2vC2(0- )
or
vC1(0- ) = 2vC2(0- )
And we know that vC1(0- ) + vC2(0- ) = 18 V
Solving for the voltages, we get
vC1(0- ) = 12 V = vC1(0+ )
vC2(0- ) = 6 V = vC2(0+ )
Equivalent circuit for t ≥ 0 R2=1kΩ
E=27V C2=2C1=2µF i2
+ R1=2kΩ C1
E
- i1 1H
i3 C2
From KVL, we get
1 1
(1) 27 = R 2i1 +
C1 ∫ i dt + C ∫ i dt
2
2
3
1
(2) 0 = R 1 (i2 − i1 ) +
C1 ∫ i dt
2
d 1
(3) 0=L
dt
(i3 − i1 ) +
C2 ∫ i dt 3

29
1 1
(1) 27 = R 2 i1 +
C1 ∫i 2 dt +
C2 ∫i 3 dt
1
(2) 0 = R 1 ( i 2 − i1 ) +
C1 ∫i 2 dt
d 1
(3) 0 = L
dt
( i 3 − i1 ) +
C2 ∫i 3 dt
At t=0+, we get from (1)

1
i1 (0 + ) = [27 − v C1 (0 + ) − v C 2 (0 + )] = 9 mA
R2
Since i1(0+) - i3(0+)=iL(0+), then
i3 (0 + ) = i1 (0 + ) − iL (0 + ) = 0
1 1
(1) 27 = R 2 i1 +
C1 ∫i 2 dt +
C2 ∫i 3 dt
1
(2) 0 = R 1 ( i 2 − i1 ) +
C1 ∫i 2 dt
d 1
(3) 0 = L
dt
( i 3 − i1 ) +
C2 ∫i 3 dt
For resistor R1, we get
v R 1 (0 + ) = R 1[i1 (0 + ) − i2 (0 + )] = v C1 (0 + )
or
+ +v C1 (0 + )
i2 (0 ) = i1 (0 ) − = 3 mA
R1
30
1 1
(1) 27 = R 2 i1 +
C1 ∫i 2 dt +
C2 ∫i 3 dt
1
(2) 0 = R 1 ( i 2 − i1 ) +
C1 ∫i 2 dt
Differentiate equations (1) and (2). We get

di1 1 1
(4) 0 = R2 + i2 + i3
dt C1 C2
di2 di 1
(5) 0 = R1 − R1 1 + i2
dt dt C1
di1 + 1 1 1
(0 ) = − [ i2 (0 + ) + i3 (0 + )]
dt R 2 C1 C2
Elmer R. Magsino MS EE = −3 A / s CIRCUITS 1 p61

di2 + di 1
(0 ) = 1 (0 + ) − i2 (0 + )
dt dt R 1C1
= − 4 .5 A / s
di3 + di 1
(0 ) = 1 (0 + ) − v C 2 (0 + )
dt dt L
= −9 A / s

31
Example: The network has reached steady-state
condition with the switch closed. At t=0, the switch
is opened. Find i(0+), v(0+), t=0
di + dv +
(0 ) and (0 ). 20Ω +
dt dt + 10Ω
60V v
- 1H i 10-3F
-
60
iL (0− ) = =3A
20 + 20Ω 10Ω
60V +
- iL(0-)
vC (0− ) = 60 V vC(0-)
-

Equivalent circuit for t ≥ 0

20Ω +
di 10Ω
(1) + 20i = v v +
dt 1H i v 10-3F
t - C
-
(2) 10i + 103 ∫ idt = −v
−∞
At t=0+, we get
i(0+ ) = iL (0− ) = 3 A
vC (0+ ) = vC (0− ) = 60 V
10i(0 + ) − v C (0 + ) = −v(0 + )
or
v(0 + ) = 30 V
32
di t
(1) + 20 i = v (2) 10 i + 10 3 ∫ idt = − v
dt −∞
From (1), we get

di +
(0 ) = v(0 + ) − 20i(0 + ) = − 30 A/s
dt
di dv
10 + 103 i = −
dt dt
At t=0+, we get
dv + di +
(0 ) = −10 (0 ) − 103 i(0 + ) = -2,700 V/s
dt dt
Example: The switch has been in position b for a

long time. At t=0, the switch is moved to a. Find
dv1 + a 4Ω +v2
v1(0+), v2(0+), (0 )
dv 2 + dt + b t=0
and (0 ). 6Ω
120V + +v1 1
dt 60V F
- - 1H 4
REF
Equivalent circuit at t=0- 4Ω
iL (0− ) = 6 A = iL (0+ ) + 6Ω +
60V vC(0-)
− + - iL(0-) -
vC (0 ) = 36 V = vC (0 )

33
Equivalent circuit for t ≥ 0 4Ω +v2
From KCL, we get + 6Ω

+v1 1
v 2 − v1 120V F
(1) = ∫ v 1dt - 1H 4
6
120 − v 2 v − v1 1 dv 2 REF
(2) = 2 + 4
4 6 dt
At t=0+,
v2(0+ ) = vC (0+ ) = 36 V
From (1), we get
v1 (0 + ) = v 2 (0 + ) − 6iL (0 + ) = 0

v 2 − v1 120 − v 2 v − v1 dv 2
= ∫ v dt = 2 + 1
(1) 1 (2) 4
6 4 6 dt
From (2), we get

dv 2 +
(0 ) = 60 V/s
dt
dv 1 dv 2
= − 6 v1
dt dt
At t=0+,
dv 1 + dv 2 +
(0 ) = (0 ) − 6 v1 (0 + ) = 60 V/s
dt dt
34
Solving the Differential Equation
Consider the nth-order differential equation
dnx dn −1x dx
an n + an −1 n −1 + ... + a1 + a0 x = g(t)
dt dt dt
1. Find the steady-state response xss. This is

similar in form to the forcing function g(t) plus
all its unique derivatives.
2. Find the transient response xt. This is generally
an exponential of the form
x t = K1ε s1t + K 2ε s2t + ... + K nε snt

3. Evaluate the initial conditions. We need the

dx d2 x dn −1x
values of x(0), (0) , (0), … (0) .
xt dt 2 dx n −1
4. Find the total response. Add the steady-state
response and transient response.
x(t) = x ss + K1ε s1t + K 2ε s2t + ... + K nε snt
5. Differentiate the total response (n-1) times.
6. Using the expressions for x(t) and its (n-1)

derivatives in step 5, and the initial conditions in
step 3, find the arbitrary constants K1, K2, … Kn.

35
Example: The network t=0 4Ω 1H 4Ω
is initially unenergized.
At t=0, the switch is +
24V i1 8Ω i2 2H
closed. Find currents -
i1(t) and i2(t) for t ≥ 0.
First, get the differential equations that describe

currents i1(t) and i2 for t ≥ 0. The mesh equations
are
di1
+ 12i1 − 8i2 = 24 (1)
dt
di2
2 + 12i2 − 8i1 = 0 (2)
dt
Using operators we get

di1 (D+12)i1 – 8i2 = 24 (a)
(1) + 12i1 − 8i2 = 24
dt
di2
(2) 2 + 12i2 − 8i1 = 0 -8i1 + (2D+12)i2 = 0 (b)
dt
To eliminate i2, multiply (a) by (2D+12) and (b)

by 8 and add the resulting equations. We get
(D2 + 18D + 40)i1 = (D+12)12
or
d 2i1 di
2
+ 18 1 + 40i1 = 144
dt dt
36
Similarly, we eliminate i1 by multiplying (a) by 8
and (b) by (D+12) and adding the equations. We
get
(D2 + 18D + 40)i2 = 96
or
d2i2 di
2
+ 18 2 + 40i2 = 96
dt dt
Alternatively, we can solve for i2 in equation (1)
and differentiate the resulting equation. We get
di1 3
i2 = + i1 − 3
1
8
(3)
and dt 2
2
di2 1 d i1 di
= 8 2 + 23 1 (4)
dt dt dt CIRCUITS 1 p73
Substitute (3) and (4) in equation (2). We get

d2i1 di
2
+ 18 1 + 40i1 = 144
dt dt
This is the required differential equation for i1.
Solve for i1 in equation (2) and differentiate the
resulting equation. We get
di2 3 di1 d2i2 di2
i1 = 1
4
+ 2 i2 (5) and = 1
+ 3 (6)
dt dt 4
dt 2 2
dt
d2i2 di
2
+ 18 2 + 40i2 = 96
dt dt
This is the required differential equation for i2.
37
Next, we determine the steady-state response i1,ss
and i2,ss which are both constant. We get from
d2i1 di1 Since the
+ 18 + 40i1 = 144 forcing function
dt 2 dt is a constant
(24V) the
144
i1,ss = = 3 .6 A steady-state
40 response of any
current or
and from voltage should
d2i2 di also be a
2
+ 18 2 + 40i2 = 96 constant. Thus,
dt dt i1,ss = A
96 di1,ss/dt = 0
i2,ss = = 2 .4 A
40 d2i1,ss/dt2 = 0

We can also draw the equivalent circuit at steady

state. We get 4Ω 4Ω
12i1,ss − 8i2,ss = 24 +
24V i1,ss 8Ω i2,ss
-
− 8i1,ss + 12i2,ss = 0
which gives i1,ss= 3.6 Amps

and i2,ss= 2.4 Amps.

38
Next, find the transient response. The differential
equations are
d2i1 di
2
+ 18 1 + 40i1 = 144
dt dt
d2i2 di2
+ 18 + 40i2 = 96
dt 2 dt
Setting the right-hand side of the equation to zero
and changing operators, we get the characteristic
equation to be Only one characteristic
equation defines any
s 2 + 18s + 40 = 0 current or voltage in
the circuit.
Solving for the roots, we get s1=-2.6 and s2=-15.4.

Thus, we get the transient response.
i1t = K1ε -2.6t + K 2 ε -15.4t

i2 t = K 3 ε-2.6t + K 4 ε-15.4t
Next, we find the initial conditions. We need i1(0+),
di di
i2(0+), 1 (0+) and 2 (0+).
dt dt
Since the circuit was initially unenergized, we get
i1(0 + ) = i2 (0 + ) = 0
di1 +
From (1), we get (0 ) = 24 A/s
dt
39
di2 +
From (2), we get (0 ) = 0
dt
Next, determine the total response. We get
i1 (t) = 3 .6 + K 1ε -2.6t + K 2 ε -15.4t
i2 (t) = 2 .4 + K 3 ε -2.6t + K 4 ε -15.4t
whose derivative are
di1
= −2.6K1ε -2.6t − 15 .4K 2 ε -15.4t
dt
di2
= −2.6K 3 ε -2.6t − 15 .4K 4 ε -15.4t
dt
Evaluate the constants K1 and K2. At t=0+, we get
i1(0 + ) = 0 = 3.6 + K1 + K 2
di1 +
(0 ) = 24 = −2.6K1 − 15 .4K 2
dt
Solving simultaneously, we get K1=-2.46 and
K2=-1.14. The final expression for current i1 is
i1(t) = 3.6 − 2.46 ε-2.6t − 1.14 ε-15.4t A
Evaluate the constants K3 and K4. We get K3=-2.89

and K4=0.49. Thus
i2 (t) = 2.4 − 2.89 ε-2.6t + 0.49 ε-15.4t A
40
Plot of the Currents
I2
I1
t=0 4 1 4
+
24 i1 8 i2 2
-


v1(t) and v2(t) for t ≥ 0.
a 4Ω +v2
+ b t=0 6Ω
120V + +v1 1
60V F
- - 1H 4
REF
In a previous example, we got the differential
equations that describe the voltages v1 and v2. In
another example, we derived the initial conditions.

41
The differential equations are
d2 v1 dv1
+ 7 + 10v1 = 0 (1)
dt 2 dt
d2 v2 dv
2
+ 7 2 + 10v2 = 720 (2)
dt dt
with initial conditions
v1 (0 + ) = 0
v2(0+ ) = 36 V
dv1 + dv 2 +
(0 ) = (0 ) = 60 V/s
dt dt
d2 v1 dv d2 v2 dv
+ 7 1 + 10v1 = 0 2
+ 7 2 + 10v2 = 720
dt 2 dt dt dt
Steady-state response:
From the differential equations (1) and (2), we get
v1,ss = A v2,ss = B
v1,ss = 0 dv1,ss dv2,ss
=0 =0
dt dt
720 d2v1,ss d2v1,ss
v 2 ,ss = = 72 V dt2
=0
dt2
=0
10
We can also draw the equivalent circuit at steady
state.
4Ω
v1,ss = 0
+
+ 6Ω
6 120V + v2,ss
v 2,ss = (120) = 72 V - v1,ss -
10 -
CIRCUITS 1 p84
42
The differential equations are
d2 v 1 dv 1 (1)
2
+7 + 10 v 1 = 0
dt dt
d2 v 2 dv 2
2
+7 + 10 v 2 = 720 (2)
dt dt
Transient response:
s2 + 7s + 10 = 0
whose roots are s1=-2 and s2=-5. We get
v1t = K1ε-2t + K 2 ε -5t
v 2 t = K 3 ε-2t + K 4 ε-5t
Complete response: We get

v1(t) = K1ε-2t + K 2 ε -5t
v 2 (t) = 72 + K 3 ε-2t + K 4 ε-5t
The derivatives are
dv1
= −2K1ε-2t − 5K 2 ε-5t
dt
dv 2
= −2K 3ε -2t − 5K 4 ε-5t
dt
At t=0+, we get
v1 (0 + ) = 0 = K 1 + K 2 dv1 +
(0 ) = 60 = −2K1 − 5K 2
dt
43
Solving simultaneously, we get K1=20 and K2=-20.
Also at t=0+, we get
v 2 (0 + ) = 36 = 72 + K 3 + K 4
dv 2 +
(0 ) = 60 = −2K 3 − 5K 4
dt
Solving simultaneously, we get K3=140 and
K4=-68. The final expressions are
v1(t) = 20 ε -2t − 20 ε-5t V t≥0
v 2 (t) = 72 − 40ε -2t + 4ε -5t V t≥0

Plot of the Voltages
V2
4 +v2
+ t=0 6
120 + +v1 1
60V F
- - 1 4
REF
V1

44
Example: The network t=0 8Ω 2H
is initially unenergized.
+
At t=0, the switch is
v(t) i1 4Ω i2 1H
closed. Find current
-
i2(t) for t ≥ 0. Assume
v(t)=20 cos 4t volts.
For t ≥ 0, the mesh equations are

di1
2 + 12i1 − 4i2 = v(t) (1)
dt
di2
+ 4i2 − 4i1 = 0 (2)
dt
Solve for i1 in equation (2) and differentiate the

resulting equation. We get
di2
i1 = 1
4
+ i2 (3)
dt
and
di1 d2i2 di2
= 1
4
+ (4)
dt dt 2 dt
d2i2 di
2
+ 10 2 + 16i2 = 2v(t) (5)
dt dt
where v(t)=20 cos 4t volts.

45
d 2i 2 di
2
+ 10 2 + 16i 2 = 40 cos 4t (5)
dt dt
Forced Response: Since the source is sinusoidal,
i2,ss = A cos 4t + B sin 4t

di2,ss
= −4A sin 4t + 4B cos 4t
dt
d2i2,ss
= −16 A cos 4t - 16B sin 4t
dt 2
Substitute in the differential equation (5). We get
− 16A cos 4t - 16B sin 4t - 40A sin 4t
+ 40B cos 4t + 16A cos 4t + 16B sin 4t = 40 cos 4t
Comparing coefficients, we get
40 = −16A + 40B + 16A

0 = −16B − 40A + 16B
Solving simultaneously, we get A=0 and B=1. Thus
i2,ss = sin 4t
Transient response: The characteristic equation is
s2 + 10s + 16 = 0
The roots are s1=-2 and s2=-8. Thus
i2,t = K1ε−2t + K2ε−8t

46
Complete response:
i2(t) = sin 4t + K1ε−2t + K2ε−8t
di2
= 4 cos 4t - 2K1ε−2t − 8K2ε−8t
dt
di 2
At t=0+, i1(0+)=i2(0+)=0. From (2), get (0+)=0.
dt
0 = K1 + K2
0 = 4 - 2K1 − 8K2
Solving simultaneously, we get K1=-K2=-2/3. Thus
i2(t) = sin 4t - 23 ε −2t + 23 ε −8t A t ≥ 0

Plot of the Current & Voltage

V(t) = 20 cos (4t)
i2

47
State Variable Analysis
State variables
• Inductor Currents
• Capacitor Voltages
General Form of the State Equation
x& = Ax + Bu
Solution of the State Equation

Another method of solving
• numerical integration differential equations


vC(0+), and iL(0+) and a 4Ω
the state equations
for t ≥ 0. + b t=0 6Ω
+ 1
v(t) +
60V v C F
- - iL 1H - 4
Equivalent circuit at t=0- 4Ω
iL (0− ) = 6 A = iL (0+ ) + 6Ω +
60V vC(0-)
- iL(0-) -
vC (0− ) = 36 V = vC (0+ )

48
Equivalent circuit for t ≥ 0 4Ω
diL + 6Ω +
KVL: v C = 6iL + 1 1
dt v(t) vC F
-
iL 1H - 4
v(t) − vC dv
KCL: = 14 C
+ iL
4 dt
In matrix form, we get

•
iL −6 1 iL 0
• = + v(t)
vC − 4 −1 vC 1
with initial conditions iL(0+)=6 A and vC(0+)=36 V.

Example: The circuit has t=0

reached steady-state 3Ω
condition with the switch
closed. At t=0, the switch 1Ω + 1
is opened. Find vC(0+), + vC F iL 1H
iL(0+) and the state 12V - 20
-
equations for t ≥ 0.

1Ω
- +
v C (0 ) = 0 = v C (0 ) +
+
vC(0-) iL(0 )
-
12V
iL (0- ) = 12 A = iL (0+ ) - -

49
Equivalent circuit for t ≥ 0 4Ω
diL + + 1
KVL: v C = 1 12V vC F iL 1H
dt - - 20
12 − v C dv C
KCL: = 1
20
+ iL
4 dt

•
iL 0 1 iL 0
• = + 12V
vC − 20 − 5 vC 5
with initial conditions iL(0+)=12 Amps and vC(0+)=0.

Solution of the State Equation

The Euler method for integrating a first-order
differential equation is of the form
x(t0 + ∆t) ≈ x(t0 ) + f(x, t) t • ∆t
. 0
where x=f(x,t). The method can be extended to

the case when x is a vector. Consider the state
equation •
x = f (x, t) = A x + Bu
Substitution gives
x(t0 + ∆t) ≈ x(t0 ) + [Ax(t0 ) + Bu(t0 )]∆t

≈ (I + ∆tA) x(t 0 ) + ∆tB u(t 0 )
Identity matrix Step-size CIRCUITS 1 p100
50
Example: The network is initially unenergized. At
t=0, the switch is closed. t=0
8Ω 2H
Use the Euler method
with ∆t=0.02 sec to +
find iL1 and iL2 for t ≥0. v(t) iL1 4Ω iL2 1H
Let v(t)=20 cos 4t V. -
For t ≥ 0, we get from KVL,

di1
2 + 12i1 − 4i2 = v(t)
dt
di2
+ 4i2 − 4i1 = 0
dt

•
iL1 −6 2 iL 1 0 .5
• = + v(t)
iL 2 4 −4 iL 2 0
with initial conditions iL1(0+) = iL2(0+) = 0.
Recall the Euler method
x(t 0 + ∆t) ≈ (I + ∆tA) x(t 0 ) + ∆tB u(t 0 )
1 0 −6 2 0.88 0.04
I+∆tA = + 0.02 =
0 1 4 −4 0.08 0.92
51
x( t 0 + ∆ t ) ≈ (I + ∆ tA ) x( t 0 ) + ∆ tB u( t 0 )
where 0.88 0.04
I+∆tA = and ∆t=0.2
0.08 0.92
We get
iL1(t+∆t) 0.88 0.04 iL1(t) 0.2cos 4t

= +
iL2(t+∆t) 0.08 0.92 iL2(t) 0
At t=0,
iL1(0.02) 0.88 0.04 iL1(0+) 0.2 0.2

= + =
iL2(0.02) 0.08 0.92 iL2(0+) 0 0
iL1(t+∆t) 0 . 88 0 . 04 iL1(t) 0.2cos 4t

= 0 . 08 0 . 92 +
iL2(t+∆t) iL2(t) 0
We’ve found
iL1(0+) 0 iL1(0.02) 0.2

= and =
iL2 (0+) 0 iL2(0.02) 0
At t=0.02 second:
iL1(0.04) 0.88 0.04 0.2 0.1994 0.3754
= + =
iL2(0.04) 0.08 0.92 0 0 0.016
At t=0.04 second:
iL1(0.04) 0.88 0.04 0.3754 0.1974 0.5284
= + =
iL2(0.04) 0.08 0.92 0.016 0 0.0448
52
Comparison of Results
From a previous example, we got
i2(t) = sin 4t - 23 ε −2t + 23 ε −8t A t ≥ 0

Comparing the actual value with the estimate,
Time Actual Euler Error
0.02 0.00748 0.0 0.00748
0.04 0.02801 0.016 0.01201
0.06 0.05894 0.04475 0.01419
0.08 0.09800 0.08344 0.01456

Plot of the Current

53

Lecture06 - Higher Order Transient Anaysis

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Transient Analysis of

BY: Artemio P. Magabo

Elmer R. Magsino MS EE CIRCUITS 1 p1

Series RLC Network

1. Overdamped Case: The roots are real and

Elmer R. Magsino MS EE CIRCUITS 1 p8

Example: The capacitor 10Ω 1H

whose roots are s1=-2 and s2=-8. Thus, we get

i(t) = K1ε - 2t + K2ε - 8t

Solving simultaneously, we get K1=2 and K2=-2.

Elmer R. Magsino MS EE CIRCUITS 1 p12

i(t) = K1ε -4t + K2ε -4t = K3ε -4t

Assume i(t) = y(t)ε -4t . Differentiating twice, we get

y' ' (t) ε -4t = 0

i(t) = y(t)ε -4t

i(t) = K1t ε -4t + K2 ε -4t

The characteristic equation can be shown to be

i(t) = K1ε (-3 + j2.65)t + K2ε (-3 - j2.65)t

Back to the expression for the current

i(t) = ε -3t (K1ε j2.65 t + K 2 ε - j2.65 t )

i(t) = ε −3t [ K1 cos ωt + jK1 sin ωt

i(t) = ε−3t [ K3 cosωt + K4 sinωt ]

i(t) = 4.54ε −3t sin 2.65 t Amp t≥0

Plot of the Currents

Elmer R. Magsino MS EE CIRCUITS 1 p22

The characteristic equation is

ansnKε st + an −1sn −1Kε st + ... + a1sKε st + a0Kε st = 0

x = K1ε s1t + K 2 ε s2t + ... + K n −1ε sn−1t + K nε snt

The characteristic equation is

Elmer R. Magsino MS EE CIRCUITS 1 p27

Since the roots are real and distinct, the solution is

v(t) = K1ε-2t + K2ε-4t + K3ε-8t

Elmer R. Magsino MS EE CIRCUITS 1 p28

v(t) = 4ε-2t + 2ε-4t + 1ε-8t V

Example: Consider the differential equation

Elmer R. Magsino MS EE CIRCUITS 1 p31

Then, differentiate the mesh equations to eliminate

− 16i1 + (D2 + 10D + 16)i2 = 0 (2)

16 (8D + 16) i1 − 16i2 = Dv(t) (1)

(8D+16) − 16i1 + (D2 + 10D + 16)i2 = 0 (2)

(D2 + 12D + 36) i2 = 2v(t)

(D2 + 12D + 36) i1 = 1

d2i1 di1 d2v(t)

Alternative Procedure: First, solve for i1 from (b)

Differentiate (1) and re-write the equations. We get

(D + 6)v1 − Dv2 = 0 (1)

Multiply equation (1) by (3D+5) and (2) by D, then

(D2 + 7D + 10)v1 = Dv(t)

Multiply equation (1) by 2 and (2) by (D+6), then

(D2 + 7D + 10) v2 = (D + 6)v(t)

Elmer R. Magsino MS EE CIRCUITS 1 p40

Using operators, we get

(4D + 20 ) i1 − 20i2 = Dv (t) (1)

Multiply equation (1) by (D2+20) and (2) by 20,

Elmer R. Magsino MS EE CIRCUITS 1 p43

Why Get Initial Conditions?

Transient Response: General form is exponential

x = K1ε s1t + K 2 ε s2t + ... + K n −1ε sn−1t + K nε snt

Answer: The initial conditions are necessary in the

Elmer R. Magsino MS EE CIRCUITS 1 p44

Example: The circuit has reached steady-state

The circuit is at steady

From (1), we get at t=0+