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Solution of First-Order Linear Differential Equation
Solution of First-Order Linear Differential Equation
dX
+ a0 X = f (t) ,
dt
dX
+ a0 X = 0
dt
The functional form of Xn is Xn = Kest (K and s are constants). Value of s can be found
by substituting the functional form in the homogeneous dierential equation:
a1
dKest
+ a0 Kest = 0
dt
a1 Ksest + a0 Kest = 0
a1 s + a0 = 0
s=
a0
a1
Constant K is found from initial conditions. As the initial condition applies to X not Xn ,
K should be found after Xf is calculated.
Some functional forms of the forced solution, Xf , are given in the table below. To nd
Xf , the functional form is substituted in the original dierential equation and the constant
coecients of the functional form are found.
Trial Functions for Forced Response
f (t)
a
at + b
n
at + btn1 + ...
aet
a cos(t) + b sin(t)
Trial Function
A
At + B
n
At + Btn1 + ...
Aet
A cos(t) + B sin(t)
70
Example: Solve the dierential equation below with the initial condition of v(t=0)=1.
dv
+ 5v = 10
dt
The solution is v = vn + vf . vn is the solution to the homogeneous equation:
dv
+ 5v = 0
dt
Using the trial function vn = Kest , we nd:
d st
Ke + 5Kest = 0
dt
Ksest + 5Kest = 0
s = 5
vn = Ke5t
K will be found later from the initial condition.
To nd vf , we note that f (t) = 10 = constant. From the table of the trial functions, we
nd that the functional form of vf = A = constant. Substituting for vf in the dierential
equation, we get:
dA
dv
+ 5v = 10
+ 5A = 10
dt
dt
0 + 5A = 10 vf = A = 2
v = vn + vf = Ke5t + 2
We now use the initial condition, v(t = 0) = 1, to nd K:
v(t = 0) = Ke5t + 2
t=0
=1
K +2=1
K = 1
v = e5t + 2
71
First-Order Circuits
First order circuits include only one capacitor or inductor (after using series/parallel reduction). The solution of these circuits results in a rst-order linear dierential equation with
constant coecients. It requires one initial condition.
First-order RL Circuits
Consider a rst-order circuit containing only one inductor. The rest of the circuit contains
only resistors and voltage and current sources. Therefore, the rest of the circuit is a twoterminal resistive subcircuit and can be reduced to a Thevenin or Norton form as shown.
Note that it is possible that the rest of circuit reduced to only a resistor, i.e., vT = 0.
iL
RT
+
Rest of
the circuit
vL
iL
iL
+
L
+
-
vT
vL
iN
vL
OR
RT iL + vL vT = 0
diL
vL = L
dt
Substituting for vL in KVL, we arrive at the general form of dierential equation that
describes rst-order RL circuits:
L
diL
+ RT iL = vT
dt
If we use the Norton form for the resistive subcircuit, we will arrive at
L diL
+ iL = iN
RN dt
which is exactly identical to the Thevenin form (RN = RT and vT = RT iN ).
72
First-order RC Circuits
Consider a rst-order circuit containing only one capacitor. Similar to a rst-order RL
circuit, we can reduce the rest of the circuit to a Thevenin or Norton form as shown.
iC
RT
+
Rest of
the circuit
vC
iC
iC
+
C
+
-
vT
vC
iN
vC
OR
RT iC + vC vT = 0
dvC
iC = C
dt
Substituting for iC in KVL, we arrive at the general form of dierential equation that describes rst-order RC circuits:
RT C
dvC
+ vC = vT
dt
73
t = t0
RT
+
-
vT
iL
I.C.:
+
vL
-
vL + RiL = 0
diL
L
+ RiL = 0
dt
iL (t = t+
0 ) = i0
It is a good idea to write down the initial conditions (again) next to the dierential equation.
Since the RHS of the equation is zero, there is no forced solution. The functional form of the
natural solution is iL = Kest . Substituting this functional form in the dierential equation
(to nd s), we get:
iL = Kest
diL
= Ksest
dt
LKsest + RKest = 0
Ls + R = 0
s=
R
L
iL = Ke(R/L)t
Dene time constant, , as
L
1
=
=
s
R
iL = Ke
iL (t =
t+
0)
t0
= i0 = Ke
t0
+
K = i0 e
74
iL
Thus:
t t0
iL = i0 e
and
io
t t0
vL = Ri0 e
< 1% io
t
t0
t0+5
t0
I.C.:
iC
Ric + vC = 0
dvC
RC
+ vC = 0
dt
vC (t = t+
0 ) = v0
+
vC
1
= RC
=
s
vC = Ke
vC = v0 e
t t0
and
v0
iC = e
R
t t0
vC
t0
vo
< 1% vo
t
t0
t0+5
75
for t 0
for t 0+
u(t) = 0
u(t) = 1
u(t-t 0)
1
for t t
0
for t t+
0
u(t t0 ) = 0
u(t t0 ) = 1
t
t0
Step functions are one way to illustrate switched circuit as is shown in the example below.
t = t0
vs
C
+
-
vs u(t-t )
0
RC
I.C.:
= Ke
and
= RC
To nd the forced response, vC,f , we note that the RHS of the dierential equation is a
constant. Table of trial force functions on page 70 indicates that the forced response should
also be a constant, vC,f = A. Substituting for vC,f in the dierential equation, we get:
RC
dA
+ A = vs
dt
vC = vC,n + vC,f
vC,f = A = vs
= Ke + vs
76
vC (t = 0 ) = v0 = Ke + vs = K + vs
+
K = v0 vs
vC (t) = (v0 vs )e + vs
If we wait long enough, (mathematically: t , practically: 5 ) the circuit will reach DC
steady condition again, current in the capacitor becomes zero and its voltage reaches vs as
can be see either from the circuit or from the expression for vC (t).
iC
vC
t0
vs
t0+5
v0
t
t0
-v s /R
t0+5
If the switch was closed at time t = t0 instead of time zero, the capacitor voltage waveform
would be (let t = t t0 and switch closing at t = 0):
vC (t) = (v0 vs )e
t t0
+ vs
Since v0 is the initial value of vC and vs is its nal value , the above equation can be re-written
as:
vC
=
at Time t
Final Value of
Initial Value of
vC
vC
t t0
Final Value of
+
vC
In fact, all voltages and currents in the circuit (also called state variables) will have the
same waveform:
State Variable
=
at Time t
Initial Value of
Final Value of
State Variable
State Variable
t t0
Final Value of
+
State Variable
77
iL
is
R
+
vL
Alternatively, we can use the state variable formula identied above. Here the state
variable of interest is iL . The time constant of the circuit is = L/R. The nal value of
the state variable is iL (t ) when the switch is closed and circuit has reached a DC
steady state condition. Replacing the inductor with a short circuit, we nd iL (t ) = is .
Substituting in the state variable formula above, we get
iL (t) = (i0 is )e
t t0
+ is
vC 18 vc vC
+ +
=0
12
6
12
vC = 4.5 V
for t < 0
t=0
12
i
2
12
18 V
+
vc
-
+
-
1F
12
12
vA =vc
18 V
i
2
12
6
+
18 V
+
-
vc
-
No-jump condition leads to the initial condition for t > 0: vC (0+ ) = vC (0 ) = 4.5 V. Note
that although we like to nd i, the initial condition is obtained for vC as no-jump condition
only applies to vC and i may have a discontinuity at the switching time.
MAE140 Notes, Winter 2001
78
12
vA
i
12
6
+
vc
-
vc
18 V
+
-
1F
12
vA vA vC vA
+
+
=0
6
2
12
KCL at vA :
KCL at vC :
2
vC
3
1 dvC
vC vA
+
=0
2
12 dt
vA =
where we substituted for iC from the capacitor i-v equation. The above are two equations
in our two node-voltages vA and vC . Substituting for vA from rst into the second, we get:
dvC
2
6vC 6
vC +
=0
3
dt
dvC
+ 2vC = 0
and
dt
vC (0+ ) = 4.5 V
As the RHS of the dierential equation is zero, solution consists only of the natural solution.
Using the trial function of Kest , we nd:
sKest + 2Kest = 0
s = 2
vC (t) = Ke2t
and K is found from the initial condition:
vC (0+ ) = 4.5 = Ke20
K = 4.5
vC (t) = 4.5e2t
(V)
vA (t) =
(V)
(A)
79
2
6 || 12 =
4
12
1F
12
1F
12
1F
12
vC (t) = vC (t =
t0 = 0
and
vC (t) = 4.5e2t
t+
0 )e
t t0
with
= RC
+
vC (t = t+
0 ) = vC (0 ) = 4.5
and
= RC =
6
= 0.5
12
(V)
We now need to go back to the original circuit to calculate i, for example, by writing the
node-voltage equations and use vC to nd the other parameters as was done above.
Example 2: The circuit is in DC steady-state
for t < 1 s. Find iL for t > 1
KVL:
10 + 50iL = 0
10 V
+
10 V
t=1s
50
iL
50
150 mH
25
50
10 V
+
iL
i=0
75
iL = 0.2 A
80
10 V 50
KCL at vL :
i-v Eq.:
10 V
iL
150 mH
vL
+
v
75
vL
vL (10)
+ iL +
=0
75
50
2vL + 150iL + 3vL + 30 = 0 5vL + 150iL = 30
diL
vL = 150 103
dt
diL
+ 150iL = 30
5 150 103
dt
diL
+ iL = 0.2 and iL (t = 1+ ) = 0.2 A.
5 103
dt
As the RHS of the dierential equation is not zero, we need to nd both the natural and
forced solutions. The natural solution can be found by using trial function of iL,n = Kest :
5 103 sKest + Kest = 0
s = 200
5 103
K = 0.4e+200
(A)
81
50
10 V
iL
150 mH
iL
10 = 0.2
50
75
50
150 mH
75
+ is
iL (t) = (i0 is )e
iL
0.2
50 || 75=
30
150 mH
t0 = 1
i0 = iL (t = t+
0 ) = +0.2
and
is = 0.2
L
150 103
=
= 5 103
R
30
iL (t) = [0.2 (0.2)]e200(t1) + (0.2)
(A)
ic
C
+ vc
R
ic
+
v1u(t)
i=0
+
vo
vn = vp = 0
RiC = v1 vn = v1
d(vn vo )
dvo
dvC
=C
= C
ic = C
dt
dt
dt
Substituting for iC from Ohms law into capacitor i-v equation, and integrating the resulting
equation we get:
t dv
dvo
1
v1
o
= C
dt =
R
dt
RC
0 dt
t
1
vo (t) =
v1 (t )dt
RC 0
t
0
v1 (t )dt
82
ic
ic
C
+ vc
i=0
v1u(t)
vo
Negative Feedback:
vn = vp = 0
RiC = vn vo = vo
dvC
d(v1 vn )
dv1
ic = C
=C
=C
dt
dt
dt
Ohms Law:
Capacitor i-v:
Substituting for iC from Ohms law into capacitor i-v equation, we get:
vo
dv1
=C
R
dt
vo (t) = RC
dv1
dt
t
0
vs (t )dt .
C= 1/R
c
vA =
vA
t
0
vs (t )dt
R
vs
R
vo
vo = vA vB
R
= 10vs (t)+
t
0
vs (t )dt
vB = 10vs (t)
83
vs
Inverting
Amp.
vs
2
dv0
Inverting
Summer
v0
dt2
Integrator
dv0
dt
v0
Integrator
dv0
dt
R
R
0.5 R
C= 1/R
R
C= 1/R
R
vo
84