Transient Response and Initial Conditions Circuits and Networks 6-17 Rearranging terms, we get, di rofl su9 = 2 (2) -08i() = 12 dt _ Above equation is first order nonhomogeneous differential equation of type ae Pi= Q. Hence by comparing with equation (2), P = 0.8, Q = 1.2. ‘The solution of non-homogeneous, first order differential equation is given by i(t) = oP f QeMdt+K’ e™ Substituting values of P and Q we can write, = eH ze eK ore > i = zea) i() = 1.5 08 (eB 00) 4 K’-cr0 i() = 1.5(€°—er0M) + K’-erOR 2 i() = 1501-8) 4K"-e- ~-@) To find K’ : Using initial condition in equation (3) i.e, substituting t = 0 and i(t) = in equation (3), we get, 0 = 15 (1-e-%)+K’ +e P=e%=1) onl) Ss K=0 Hence solution of the current is given by, i() = 15 Ge") A ii) At t = 0.25 sec, the value of current is given by, i() = 15 [e929] = 0.2719 A {ii)For the given circuit, time constant is given by, 10. $F = 125 see. ts ce Attet, i) = 151-8] 215 [1c 129) = 0.9481 A‘Transient Response and Circuits and Networks 6-18 Initial Conditions iv) Let i() = 1.2 A at t= #. Hence substituting values in equation ©), we get, 12) 15) Solving for t, we get, f= 201sec. 2.01 sec, the current in the circuit reaches to 1.2 A. map Example 6.2 : In the circuit shown initially switch K is Kept at position A for long time. rane pitch is moved to position B. Find expression for the current for 1 > 0. Find of current fale of current at t = 6.6667 mace, 13.3334 msc, 20 meee. Plot the variation 0 through inductor versus time. ‘That means when ao , K 309 voy | Born Fig. 6.13 Solution : At t = 0~ switch K is at position A- ges Before transition, network remains in steady state, Hence inductor acts as 2 short circuit as shown in the Fig. 6.13 (a) 4100. L = eas © | Yio 2. HO") = To ggagy 2 2A 7 HO”? Oe ea Because current through inductor cannot change instantaneously. For all t2 0* switch K is moved to position B. Hence network becomes undriven series R-L circuit as shown in the Fig. 6.13 (b). Applying KVL, we get, 024 = 20 9 - 02 30. Fig. 6.13 (b) te. 02 S84 30i¢) = 0 (2) “Above equation (2) is first order homogeneous differential equation of form, a + ait = 0Transient Response and Circuits and Networks 6-19 Initial Conditions Comparing equation (2) with above equation, we get, a= 02 a,=30 ‘The standard solution of first order homogeneous differential equation is given by, Ww = Ket! Substituting values of a and a» we get, x i(t) = K’se°03' = K’ ent (3) To find K' : Using initial condition in equation (3), ie. substituting t = 0, i(t) = 2 in equation (3), we get 2 = Kre=K ve"? = 09 =1) s Ke2 (4) Hence the solution for the current through inductor is given by, i() = 2e-tA 5) At t = 6.6667 msec, s(t) = 2ert06H0r«10) = 0.7357 A At t= 133334 msec, i(t) = 2e-™HAT*) 9.2706 A At t = 20 msec, i) = 2er20x0) = 0.0995 A. LS Hence the variation of the current i(t) versus t is as shown in the Fig. 6.14. Fig. 6.14 tm} Example 6.3: ‘The network shown int the Fig. 6.15 is under steady state condition with switch K is at position 1. Find expression for i() if switch K is moved to position 2. Draw variation of i(t).Transient Response and Initial Conditions Circuits and Networks 6-20 Fig. 6.15 ‘Solution : At t = 0°, switch is at position 1, a «x SS Before transition, the network remains in =] steady state. Hence inductor L = 20 mH acts 258 joy L Short circuit under steady state as shown in the jt Fig. 6.15 (a). (0°) | short Honce initial current through the cireuit is ae Fig. 6.15 (a) given by, es 40 a i0-) = I= Gyr tA = 10") (1) Because current through inductor cannot change instantaneously: For all 2 0* switch K is moved to position 2. Hence the network can be redrawn as shown in the Fig. 6.15 (0). Applying KVL, we get, -49i¢)-20x 10 S410 = 0 “ae Simplifying and rearranging terms, we get Fig. 6.15 (b) 20x10 + 401) = 10 aide) Set 20001) = 500 Equation (2) is first order non-homogencous differential equation of the from di Gri = Q Comparing above equation with equation (2), we Bet, P = 2000,Q = 500 ‘The solution of first order non-homogencous differential equation 1s given by, iM = Pf etateKe® ° ik arnt eee eae aCircuits and Networks 6-24 Initial Conditions Substituting values of P and Q, we can write , 4(t) =e? f 5000 dt+ K’enmmm a il 20001 erm Ki 200m it) = 50006 [Sear], +Ke iy = 5000 ¢-20™ [Ser~2i20] +k’ eam Wy = Bremen om . 4) = 025 (1-62) + Kea meen To find K’ : Using inital condition in equation (8), i. substituting t= 0, i() = 1 in equation (3), we get, 1 = 0.25(1-e*)+ K’-e® (4) “ Kel Substituting value of K’ in equation (3), we get, A(t) = 0.25 (1-072) + ’ ane it) = 0.25-0.25. 720008 4, er 2000 7 it) = 0.2540.75 e210: To draw variation of i(t) as a function of time t, let us calculate values of i(t) at t= 0 and t = Att=0, i() = 0.25 +075 e° = 025+075=1A Att= i) = 0.25+075e" = 025A = ‘Thus initial value of current a is 1 A and after transition current decreases and reaches to steady state value of 0.25 A at {infinite time. Here in driven series R-L circuit current is ‘exponantially decreasing because after transition the value of a forcing function ic. applied vollage decreases from 40 V to wv. Fig. 6.15 (c)Transient Response and @ ial Conditions Circuits and Networks 6-22 im) Example 6.4: Initially in the circuit, switch K is kept open for very long time. At t = 0, it is closed. Find expression for i(t) for t > 0. Also find voltage across inductor v(t). Sketch iP and 2) « 19 +20 F: f 108 20 20 [gon wo wf de Fig. 6.16 Solution : At t = 0~, switch K is open. ‘As no active source is connected to the inductor, the initial current can be written as, i(0-) = Ig =0=i(0*) 1) ‘As current through inductor cannot change instantaneously For all t 2 0* switch Ki is closed. Hence the network can be redrawn as shown in the Fig. 6.16 (a). Combining two 22 resistors in parallel into a single resistor of 1 as shown in the Fig. 6.16 (b). Simplifying network by using source transformation as shown in the Fig. 6.16 (c). Finally the network | can be drawn by combining two 10 resistor in series as shown in the Fig. 6.16 (4) K 19 19 | ° ww 10A 2u2 {gon | fa) (b) j 19 19 2a | it) - I (Secaeaced as f © o | Fig. 6.16 LTransient Response and Circuits and Networks 6-23 Initial Conditions “Applying KVL to the driven series FUL cireuit as shown in the Fig. 6 16 (d) we get. ditt) -2i(9-Ge +1 = 0 simplifying and rearranging the terms, we get eta = 10 2) equation (2) is frst order non-homogencous differentia equation of the types di Ger =Q Comparing above equation with equation (2) we get, P= 2 Q=10 “The solution of first order non-homogencous differential equation is given by , i) = oP f QeMat+ Ke ° Substituting values of P and Q, we get, i) = ef er dt + Ke Q i) i i) + Ke Sette) (3) i) = 5Q-e*)+K e* To find K’ : Using initial condition in equation @) ie. Substituting ¢ = 0, i(f) = 0 in equation (3), we get, 0 = 5(l-e%)+K' eo? oul) oe K 20 Substituting value of K' in equation (3) we get, i) = 50-e7%)A (5) ‘The voltage across inductor is given by, ai _ vi = (5U-e")‘Transient Response and | Circuits and Networks 6-24 Initial Conditions | vil) = 5(0-(-2e vu) = We#V ‘The variation of current i(f) and voltage v,(0) versus time t 15 aS shown in the Fig. 6.16 (¢) and (8) respectively. i) x te) o Fig. 6.16 6.7 Transient Response of Series R-C Circuit for D.C. Excitation | in this section we will discuss the behaviour of a serics RC circuit, for dic. excitation, | In the seriee R-C circuit, capacitor may be initially charged or uncharged. Now similar to. series RAL circuit analysis, we will analyze driven series R-C circuit and undriven or sree free series RC cireult one by one. In case of a series RL circuit the important parameter is the current through it, Hence in the analysis of both types of series RL Pcuit; the expression for current is obtained and then from that the expression for the Voltage across inductor can be easily obtained. While in case of series R-C circuit, the important parameter is voltage across capacitor. Once the expression for the voltage across capacitor is known then expression for current through capacitor can be easily obtained. Let us study analysis of series R-C circuits one by one. 6.7.4 Transient Response of Driven Series R-C Circuit Consider a series R-C circuit as shown in the Fig. 6.17. Initially switch K is kept ‘open for very long time at t = 0 it is closed. ‘To find transient response of driven series RC circuit means ot find expression for voltage across capacitor v(t). Let us first obtain intial voltage across capacitor by considering instant t= 07 just before | transition in the network. Fig. 6.17 | 1Transient Response and Initial Conditions 6-25 Circuits and Networks Att = 07 switch K is open. ‘As active source is not present in the circuit, the initial voltage across capacitor is zero as circuit is not completed. Hence we can write, ve(0") = Vo= 0 = vel") itor cannot change instantaneously. ol) Because voltage across capaci For all { = 0 switch K is closed. applying KVL to the closed Now the voltage source is introduced in the circuit, Hence path, we get, LR i) -ve(+V = 0 Simplifying and rearranging terms, we get, Ri@+ve) = V the current in the closed circuit. It is also the current through capacitor (2) f. But But i is current through eapacitor can be expressed interms of voltage across capacitor 3s, ‘ dvci(t) im = CSE Substituting value of i(t) in equation (@), we get, dvelt) rc Me sve) = V re 2 + vet = V-ve() fe Separating variables, we get ave) Lae IV= vet] * RC“ Bet, Integrating both the sides with respect to the corresponding variables we, =In [V=velt)] = and K = Where K' is arbitrary constant: To find K' : To obtain value of the arbitrary const ) can be used. Hence substituting t = 0, vc(t) = ant K’ initial condition represented in equation (1 0 in equation (4), we get, -m[v-0) = xt K = -mvl =) Substituting value of K’ in equation (4), we get,Transiont Response and Circuits and Networks 6-26 Initial Conditions = InfV- vel] = re In{v] s -mn[V-velb] +hIV] = t & In{V-ve(0] -InfV] = F [Yee] - In fal tn [b1= mle] Taking antilog, we get, 2] ae e ‘Above equation indicates the solution of a first order differential equation in velt) cbwined by applying KVL to the driven series R-C circult, This is the genearlized expression for ve(t) in which we can put any positive value of Hime s2y * = Otot==to strain value of voltage across capacitor. Above response is also» combination of Steady nse denoted by term V and transient response denoted by term V- &%E state respor ‘Now the current through capacitor is given by f ave) i = ieee SO * i) = CAIV-V ory i i@® = cfo-v-(- wy = Yeotea 0) Now the term RC in equations (6) and (7) is nothing but time constant of the series eC orale, Hence R denotes total resistance in series with the cxpseitor. 1¢ is ogsin denoted by + 35, t= RC sec To study the variation of time cons! 2s, Grete. tant, let us substitute different values of time t a5 % i can ilaSpeer oe | bs ‘ Transient Response and Circuits and Networks 6-27 Initial Conditions Att = tvelt) =V- Veet = (0.632) V Att = 2, volt) = V-V-e? = (0.8646) V Att = 4% volt)=V- V-e7# = (0.9816) V Att = 6%, volt) #V-V-e% = (0.9975) V © rom above valuee it is clear that in ong time constant period Le. t = % the vollpt across expacitor rapidly rises to 0.632 times steady state value, After one tine constant period, the rate of increase in capacitor voltage slows down, Ideally voltage vc(t) reaches sendy state value at infinite time. But, practically, st reaches steady stale value after te 6tort = at ‘ ‘Thus, time constant of R-C circuit can be defined as time in seconds, during which the voltage across capacitor (starting from zero) would reach its final steady ake value if fe rate of change was maintained constant at its initial value throughout charging period. ‘The variation of voltage across capacitor v<(t) and current through enpacitor 1) against time t is as shown in the Fig. 6.18 (a) and (b). “ () ) Fig. 6.18 Variation of vo(t) and i(t) against time ¢ ‘thus in driven series R-C circuit, if the voltage across capacitor sises exponentially, the current through eapacitor drops exponentially with the same rate, When the voltage across capacitor reaches steady state value, the current decreases to 26r0 value indicating open circuit behaviour of capacitor at steady state 6.772 Transient Response of Source-Free or Undriven Series RC circuit Consider the series R-C circuit as shown in the Fig. 6.19 Assume that initially © switch K is kept at position for long time. ‘att = 0 it is moved to position (B)- Thus « eae a before transition network remains in steady —V @y 0 Bs state. Now the is of undriven R-C circuit is ” Dy nothing but to find discharge of capacitor a through resistor in series with it which is Fig, 6.19‘Transient Respons: anc ® Initial Conditions and Networks represented by expression of voltage across capacitor as 8 function of time c(t. Let | vie caleulate initial condition of voltage across capacitor first. [At t = 0- switch k is at position @). ‘As taetwork remain in steady state before transition, Le. capacitor acts as open circuit, Hence the initial voltage across capacitor i.e. Vo is given by, vel") = Vo = V= vel") (8) Because voltage across capacitor cannot change instantancous!y For all t= 0* switch K is moved to position(®) - Now the network is without any excitation or active source as shown in the Fig. 6.20. Hence such a Circuit is called source-free or undriven series R - C Grcuit. Now the voltage across capacitor will vary exponentially to its steady state value, Due to ‘cansition, the steady state condition gets disturbed. Hence in the circuit, capacitor is not shown open circuit as stendy condition will be reached at infinite time after transition. Applying KVL, we get, | =Ri) - velt)=0 Ri) = -velt) { But i = ici) Example 6.5: A series R- C cireuit shown in the Fig. 622 consists R = 100 and C = Ol F, Initially suiteh K is kept open for very long time. At t = 0 it is closed. Find expression for UclO, ic() and v9) against time. K Raia t=0 * vat) 2ov{ Fig. 6.22 Solution : At t = 0", switch K is open. + velO") = Vo=0= vc(0") ® Because voltage across capacitor cannot change instantancously, For all t 2 0* switch K is closed. ato K Now the voltage source is introduced in the network. The network can be redrawn as shown in the Fig. 6.22 (a) 20v Applying KVL, we get, 10 ig()-vel)+20 = 0 Fig. 6.22 a Wic)+ vel) = 20 =~ @) a But ict) = cf. ae Substituting value of ic(t) in equation (2) we, get, s forte} van = 20 “ He velt) = 20 ~@ ‘Above equation is first order non-homogeneous differential equation of type, av pv = @ Comparing above equation with equation (8) we get, Pel Q=2 ‘The solution of a first order non-homogencous differential equation is given by, veld) = oP f QeMate Ke °Transient Response and Circuits and Networks 6-31 Initial Conditions Se Substituting values of P and Q, we get, et dt + Ke vel) =e" a . velt) = 20-efet]h+K-e# vel) = eet - e°] +K-e* te velt) 20(1 - e~') + K’-et 4) (229 = 1) To find K' ; Using initial condition from equation (1) in equation (4). ie, substituting t=0 ve(t) =0 in equation (4) we get, 0 20 (1- e%)+K’ e* =0 ©) Substituting value of K’ in equation (4) expression for v¢(t) is given by, vel) = 200-e")V © ‘The current through capacitor is given by, dvel 9,4 a iy = CXMw 01 A pa00- 0°] ict) = 20-e) ic(t) = 2[0-(-1)e"] ict) = 2e A ‘The voltage across resistor is given by, va(t) = Rrig(t)=10[2-e"] = 20-e' V @) For expressions it is clear that voltage across capacitor exponentially increases but the current through it and voltage across resistor decreases exponentially. The variation of velt) against time is as shown in the Fig, 6.22 (b) while that of ic(t) is as shown in’ the Fig. 6.22 (c) (o) ) Fig. 6.22Circuits and Networks Transient Response and 6-32 Initial Conditions mm> Example 6.6: The switch is moved from position 1 to 2 at { = 0. Find the ooltages g(t) wind nell) for t 2 0. Sov Comparing equation (2), with given by, ‘Comparing equation (2) with above equation, we get, ‘The solution of this equation is given by, yell) | at | Fig. 6.23, ‘Solution : At t = 07 switch is at position 1. The network is in steady state, As the voltage ‘across capacitor cannot change instantaneously, we can write, YelO") = 100 = Vo = ve(0") a) For all t 2 0%, switch is moved to position 2. The network can be redrawn as shown in the Fig. 6.23(0). 5000. af fi } + S) tsetuF vel) Applying KVL, | xy } = 5000 i(t) - ve(t) + 50 = 0 But i(t) = C f gr the corer! thiooge Rf Fig. 6.23 (a) and C both is same. : \ — 5000 x 1 x 10-6 SCO _ ye) = ~50 5x 17? KO 5 veQn = 50 Stel 4. 200 vett) = 10000 +) nonhomogeneous differential’ equation of first order im = 9 P = 200, Q = 10000 a‘Transient Respo! itial Conditions Circuits and Networks 6-33 Ini x = em {Qomatenie™ 0 velt) = 291 (1000 "at + K’e *P! @ Hence solution of equation (2) is given BY; amr] 2%] 000) +K'e" ® ee 2 i : t sro find K’s Using initial conditon ie. at t= 0» velt) = 100. Hence at t = 0, equation ® ean be written ° ve(0) = 100= 50 p-eI+Ke K 100 value of K’ in equation (3), we get wot vet) = Soft =~ MY + 100¢ olf) King vd) = so+so emt ‘The current through the capacitor is given bys - cave it) = CH 1x [fos] 0 21x ro* [o+50-200¢"""] | = 001 ot A Hence the voltage across resistor ie. vat is given by, vat) = Ril) va(t) = 5000 [-0.01e7""] vat) = - 50 ey ep Example 6.7 : Derive the expression for to when the switch is moved from position ead at t = 0 in the circuit as shown in the Fi 6.24. The switch was in position 1 for very long time, Also determine velnt Response and | Initial Conditions | | and Networks Fig. 6.24 Solution : At t = 0°, switch § is at position 1. Network is in steady state. Hence C acts as open circuit. (1) ‘ ve(0") = B= ve(0*) For all t 2 0°, switch is moved to position 2 as shown in the Fig. 6.25. Applying KVL, -Ryi()-ve(t)— Raitt) = 0 , +Ry) KD +Ve = 0 Fig. 6.25 eee coe +R Se «vet =O RrRy cH sve) = 0 at < $0 taser) 9 2) ‘Above equation is first order, homogeneous differential equation of the type ay 840,40) = 0 at Comparing above equations with equation (2), we can write, 1 age 1" GET RC ‘Thus solution of above differential equation is given by, --@)Transient Response and Circuits and Networks 6-35 Initial Conditions To find K’: Put, t= 0, velt) = Bin equation (3), we get, ett) E wf) Hence v¢ (t) is given by, Yelt) = Ee HVE 8) At t=0, vet) =E t t= 4 velt) = 0.369 E (RRC sraniee Fig 6.26 The current through capacitor is given by ied) : 66 See are b et = eR 8 EA Here negative sign of current indicates that the assumed direction of current through, capacitor is exactly opposite to that of actual current. tm=> Example 6.8 : For the network shown in the Fig. 6.2? initially switch is kept open for a long time and closed at ¢ = 0. Find expression for vc(t) and sketch it against t- 1 < @l- ® cal 1000 2Transient Response and Circuits and Networks 6-36 Initial Conditions Solution : At t= 0", xwiteh K Is open. a Before transition, network always remains | in steady state. Hence C acts as open circuit revi ce * a vel as shown in the Fig. 6.27 (a). cireuit a ve(0") = Vo= 2V= vel") (1) to) Because voltage across capacitor cannot change instantaneously. For all t 2 0*switch K is closed. ‘After transition, then network can be redrawn as shown in the Fig. 627 (b). The network obtained for t > 0 is a complicated network. Hence simplifying it by applying source transformation technique as shown in the Fig. 6.27 (¢) through (¢)- 0120 [ 400 200 020) ae Hy En oa} — Yoon | * ro ® Cc} Fig. 6.27 Consider simplified network obtained as shown in the Fig. get = 75 itt) - 75 itt) + v(t) 4000 © 6.27 (c). Applying KVL, we 0 vel +9. @ 9 Avett) dt but iy = Btw eso Substituting value of i(t) in equation (2), we get, (75) (60 x 0-6) Se + vel) = 9 avelt) reO + velt) = 9 3,75 x 107? fa ae + 266,667 vet) = 2400 @) i i a ATransient Response and Initiat Conditions Circuits and Networks 6-37 ‘Above equation is first order non-homogeneous differential equation of the form dv - f+ Pv=Q ‘Hence comparing above equation with equation (3), we can write, } P = 26,6667 and Q = 2400 ‘The solution of a first order non-homogeneous differential equation is given by, velt) = ef QueMateK’ er a Substituting values of P and Q we get, Vell) = er2seeen fF 2400-02460" dt-+ K’ e7 2 |. Solving we get Volt) = 9 (1 erSMer 4. Kr s4686 wa) To find K' : Using initial condition represented by equation (1) in equation (4) Lc. bstituting ¢ = 0, ve(t)= 12 in equation (4) we get 12 = 9(1-e%)+K/e* 2 K=2 | Substituting value of K' in equation (4) we get, velt) = 9 (1 e26seeerty 4 12 @°2ssesen vell) = 9-96" 2666 4.12 g- BONEN voll) = 943 e maser y (6) Now in case of above network, the initial voltage across capacitor is 9 + 3 = 12 V vhich is obtained by substituting t = 0 in equation (6). Now after transition, 300 @ branch is introduced through which current gets distributed by reducing current through epacitor. Thus in other words capacitor will get charged to a voltage less than initial voltage. If we put t = e, the steady state voltage across capacitor is given as 9+ 0 = 9 V Fence variation of voltage across capacitor is as shown in the Fig. 6.27 (6). vet) ee Steady stato voltage Fig. 6.27 (f)a fi Circuits and Networks nd capacitor in series RC circuit. By applying KVP cnder differential equation during analysis. So order of ‘Transient Response and Initial Conditions: ‘by the number of energy storing elements in the cireuit. Thus in case of series RL-C circuit we can obiain second order differential equation as it consists of two energy storing elements. Consider series R-L-C circuit as shown in the Fig. 628 To find expression for the current i(t), first initial conditions must be obtained. Att = 07, switch K is open. i@7) = 0 = i(0*) and vel07) = 0 = ¥c(0") Because current through instantaneously: fl) (2) inductor and voltage across capacitor cannot change For all t > 0* switch K is closed. Applying KVL to driven series dil Ri -S8-% Note that voltage across integration are substituted to simplifying above equation and ai) Lae + Ri Splitting limits of integratio & dil) ¥ 2 LSet RW +S JiWat In above equation, first integral (Refer section 6.53). From equation equation becomes, R-L- C cireuit, we get Jimar+v = 0 apacitor is expressed in terms of current. The limits of apaiier the initial condition of voltage across capacitor rearranging terms, we ct +h fae =v mn by separating past period before transition at f= 02s, ue ° term represents the initial voltage across capacito® (2), the Sritial voltage across capacitor is zero. Hence pal reeTransient Response and Initial Conditions Circuits and Networks 6 ditt) 120 n+ Ef ne = ¥ 0 ‘Above equation is called integro-differential equation. Differentiating both the sides of above equation with respect to t we get, di) , pd , 0 2 9 ieee ra : iq) , ditt), 2 * Se Serie =o ol) Equation (4) indicates second order differential equation. The solution of such equation «an be oblained by obtaining characteristic equation or auxillary equation by replacing 4 2 with s and s with s2, Hence the auxiliary equation for the series R-L-C circuit is given sie Rsie tei =0 e of the rodts of the characteristic ‘The response of the circuit depends on the nature equation. The two roots are, EAE ..2. GI Let us define some quantities to find the response according to the nature of the roots. 4. Critical Resistance (R,,) : This is the value of the resistance which recluces square root term to zero, giving real, equal and negative roots. oes. al : abe ale : 2. Damping Ratio (€) : This ratio is the indication of the opposition from the circuit to use oscillations in its response. More the value of this ratio, fess are the chances of Geailations in the response, It is the ratio of actual resistance in the cireuit 10 the critical fesistance. It is denoted by greek letter zeta (5)- by, & ne4 i ' i Transient Response and i Circuits and Networks 6-40 Initial Conditions 3. Natural Frequency («,) : If the damping is made zero then the response oneillates &=0 is called with natural frequency without any opposition. Such a frequency when natural frequency of oscillations, denoted as @,. It is given by, Using these values, the roots of the equation are, 5,2 =~, $0, JEP=1 =- 0, +o, yi- Thus the response is totally dependent on the values of & . Let a = &«, and a= 1-—? where @, = actual frequency of oscillations i. damped frequency when &=0 we get ©, = @, ic. natural frequency. ‘The general solution of characteristic equation is, A(t) = Ky eBid ta K, ceria! It can be scen that for the range 0 < & <1, imaginary term ja, exists and we get sine and cosine terms in the response as e!? =cos0 + j sin @. Such a network is called | underdamped ‘network when the roots of the characteristic equation are complex conjugates with negative real part. Due to negative real part, such oscillations are damped | and vanish after some time. When £=1, the roots are real, equal and negative. In such case the response is exponential and fastest if compared with any other exponential | response without oscillations. Such a case is called critically damped case. The response for such case takes form, i() = Kyett+K, e@! ‘When &>1, then damping becomes high and the response remains exponential but becomes more and more sluggish and slow as & increases, Such cases are called overdamped. The response takes the form, i(t) = Kpet'+ K ew When § 0, the damping is zero and response oscillates with maximum frequency @,, Such a case is called indamped case. The output is oscillations with constant frequency and amplitude ie. sustained oscillations. a SA sc— Circuits and Networks ‘The cases and the corresponding responses Transient Response and Initial Conditions are summarized in the Table 6.2. Tange | Nature of roots [Form of response] Circult Nature of response ote classification _ 9 | Purely imaginary | K, 008 at $0 | sj, +k; sina Undamped | © | | compox ees] conugetes wit | Ket! cost | |0<5<1) fegative real | +K, & 8! sinat Underdamped part a jy Damped oscillations ©. a1 | Real equal Rest get | Stetcace| +, tre crticaly damped Exponential and ErReetrosponse rane @ | gor ase cu] Reatunoqual | Ki oe 1€5< "| pogatve ‘Kot Overdamped Exponential an sow 6.8.1 Specifications from Consider an underdamped (§ > 1) second discussed above, transient output is damped os a [ies ig ee Table 6.2 Step Response of Second Order Circuit order system, excited by unit step input. As cillatory and finally system tries to achieveTransient Response.and 6-42 Initial Conditions steady state almost equal to unity Le, magnitude of the’step applied. Interms of & and On, the equation for the response is, 7 Bent i-e* ext i (oy, +0) where @ = tan? i | 4, = Steady state response which remains a6 t > “The remaining part is transient part which dies out after some time. Such a response is shown in the Fig, 6.29. , ie | | | | | Fig, 6.29 ‘The various specification for second order system ‘can be defined from such response ) as, 1. Delay time (Ty) # It is the time required by state value, in the first attempt. It is given by, the response to reach 50 % of its steady 140.7 & Aa ee 2. Rise time (T,) “Si te te eed by th response to 280 from 10 % 10 50 % Be ae oath gave: a, = 72 seconds @Transient Response and Circuits and Networks 6-43 Initial Conditions 3. Peak time (T,) + At the time of first overshoot response achieves a peak. The time at which first peak overshoot occurs is called peak time. It is given by, Bee cat ae 1, = & seconds Sic 4, Peak overshoot (M,) : The amount by which the response overshoots its final value, during the peak overshoot is called magnitude of peak overshoot. It is expressed in % form and given by, % Mp = e BATE x 100 5. Setting time (T,) : The time required for the response to decrease and becomes steady at its steady state value and remains thereafter within + 2% of its final value is called setting time. It is given by, = AL seconds Knowing the values of § and «, all these specifications can be directly calculated for the second order system. ms} Example 6.9 : Obtain current itt) for t = 0, using time domain approach. < joa osH ° 100 > CO) Fig. 6.30 Solution : At t = 07, switch is open. Hence initial conditions can be written as, i) O = i, (0") (1) ve(0") = 0 = ve(0*) +2) For all t 2 0°, switch is closed. Hence applyig KVL we get, 1019 + 05 P44; fiupar = 100a Transient Response and Circuits and Networks 6-44 Initial Conditions | | gi), 1 f Ais a | 210 1) + 95 art aos Jia aos Haat = 100 Initial voltage across C from equation (2) is zero, di) 10i() +05 GP + oe fut = 100 (3) ° Differentiating equation (3) with respect to t, we get, gilt) gg S27), it) Oreos x10 a Dividing both sides by 0.5 and rearranging terms, we get, 0 a9 SH i Get2xi08 = 0 (A) Above equation is second order homogencous linear differential equation, Hence the auxilliary equation is given by, ¥ F4+205+2x10° = 0 Finding roots of auxillary equation, we get, Sy2 = —10j 1414.18 ie 8 = -a4joy=-10+j 141418 jay = -10~j 1414.18 So the roots are complex conjugate with negative real parts. Hence the solution of equation (#) is given by, i(Q) = Kye*cos agt+Kzesin agt ie, i() = Kye cos 1414.18 t+ Kye sin 1414.18¢ 6) = 0, it) = ), putting values in equation (6), we get, 0 '= Kye" cos (0) + Kye" sin (0) is K,=0 ele (0 At , cos 0 = 1, sin 0 = 0) Thus equation (6) becomes, i() = Ke" "' sin 1414.18 t wl) Differentiating equation (7) with respect to t, we get, —3 Transiont Response and i “Circuits and Networks 6-45 v-+x=InitialGonditions 4 ee 2 Ky { e7! (1A1A:8) cos 1416.16 t + sin 1414.18 t 20) toe Ky - eM! [(1414.18) cos 1414.18 t~ 10 sin 1414.28 #) At 4 (0) = Ky-€°® [(141418) cos 0 - 10 sin 0] = K, (1414.18) (8) © ate=0, equation (8) becomes, ¢ 1010) + 05 Sor) + Heft = 100 : 0 +05 S40) +0 = 100 fey = Equating equations (8) and (9), we gets K, (1414.18) = 200 Ky = 01414 Hence substituting value of Ky in equation (7), the expression for (0 is given by; i() = 02414 e°?' sin 141418 t A” i (10) \ | for the current in a series RLC circuit fl by @ de imp Example 6.10 : Find the expression C=} F Assume initial conditions to be 22 voltage of 20 V with R=4Q,L=1H and Solution : Assuming zero initial conditions, ie, i107) = 0= iL 0) 2) v(07) = 0 = vc") 2) RaQ LatH Because current through L and voltage across) C cannot change catr — instantaneously. To find expression for i(t) through series R-L-C circuit is as shown in the Fig. 6.31 Fig. 631. Applying KVL to loop we get, va20VvTransient Response and | Circuits and Notworles 6-46 intat Contions | Say -1 SP - a fit at +20 = 0 | @- | -20 * 4 itt) - $P-[efios + «fro = © falue zero from | Now changing signs of all the terms and putting fist integral term v ‘equation (2), we get, recent ai + 204 aio ar = 20 8) Q Differentiating both the sides of above equation with respect to t, we get, 0), 2H, 41 = 0 ta ae Rearranging terms, we get, LO 44 BPs a =o on(8) ‘Above is second order, homogeneous differential equation which has complementary funetion as solution. ‘The auxillary equation is given by, veds+4 = 0 +) | Finding roots of equation, 4+ {7-40 _ a Peeetetee $0 the roots are real, equal and negative. Hence solution is given by, i = Ket +Kte* ie. i) = Ke +K,te™ 6) ‘Att =0, i(t) = 0, putting values in equation (6), we get, i 0 = Ke+K,(0)e* = 0 ol) eea t jont Response and ») Circuits and Networks 6-47 * Initial Conditions Hence 1) 5 K+ e* 8) Now put t = 0 in equation (3),-we get, ie 45 + $10 +4@) = 20 i! +) di, HO = 20 A/sec Differentiating equation (8) with respect to t, we get, Me Keene ee* On 2. ere emet ‘Att = 0, equation (10) becomes, BO = 20=K,L20e1+ Ke? (1) & K, = 20 Hence the expression for the current in series R-L-C circuit is given by, i) = 20te™A Examples with Solutions imp Example 6.11 : in the circuit shown in Fig. 6.32, 10 V battery és connected to the circuit by closing switch at t= 0. Assume that ‘inital voltage on capacitor is zero. Determine expression for v¢(t) and ic(t) sketch the waveform. ore ka | ARQ a(t) lee tov = Sur vet! Fig. 6.32‘Transient Response and | 6-48 Initial Conditions | Circuits and Networks Solution: At t=0-, swilch I is open. Battery of 10 V is not connected to the circuit Thus initial voltage on the capacitor is given by, ve(0-) = Vo =0= ve(0") =) Because voltage across capacitor cannot change instantaneously. 1d, The network can be drawn as shown in Fig. 6:32 (a). For all 2 0*, switch is close jes RC network, finding 1 reduce the network shown in Pig. 692 (a) into simple ‘Thevenin's equivalent network across terminals (A) - (B). oxo aa Ow tov’ aka Fig. 6.32 (a) oko 4h ® Step 1: Open the branch across which voltage is to be calculated as shown in Fig. 6.32 (b). tov 4142 Vn Step 2 : Using potential divider rule, open circuit voltage Voc is given | by Fig. 6.32 (b) 1K © vee =p =00 [eee] 19 a) Step 3 : To calculate open circuit | aia am impedance Zn looking back into the | network from terminals @)-@), | replacing 10 V independent source by | 1K2 its ideal internal impedance i.e. short I circuit as shown in Fig. 632 (©). L 2 2» 2m = (9K 18) +4K 7 ONAN ® 1 2m = ape tok Fig. 6.32 (¢) i Gegntas ia. @ ae ee eeTransient Response and Circuits and Networks 6-49 Initial Conditions meson Oi Step 4 + Réplacing original + atwork "across terminals c ® - © by its Thevenin’s equivalent network as: shown in Fig: 632 (@). y tt € © I Fig. 6.32 (d) | ‘applying KVL, (492008) ic(t)+¥e = 1 j But ic - CHE Z 1, (49 x 108) (3 x 10-8) Sisave = 3 Z $e, egoarve = s6a07 ‘The above equation is a nonhomogeneous equation whose solution is of the form. ve = er f Qe™dtt Kor 0 ‘where P = 68.027 and Q = 68.027 ve = erent f 68.027 e687! + Ke" S07" OS07 +. Ke HRT eo tom [estan 1) + Kor a7" * ve = Laer Mr Ken 6007 To find the value of K, let us use initial conditions jc. at t= 0, Ve=0 0 = 1-1+K() K=0 ve S 1a earey ~® ‘The expression for current flowing through capacitor is given Py a Substituting value of vc from equation (6),f : Transient Response and Circuits and Networks 6-50 Initial Conditions indi = sco [Eee] 8 x 10-6 [0= (- 68.027) e #271] ic. 2h. 19-3 grt ic = 021 e- 807t mA (6) ‘The waveforms of Vc and ic against time are as shown below in Fig. 6.32 (e). ic velt) { ‘ef, ° Fig. 6.32 (e) mm> Example 6.12: In the network shown in Fig. 6.33 switch K is kept open for very long time. On closing switch, after 10 milliseconds, capacitor voltage atiains a value of 80 V. Then the switch is kept closed for very long time. When switch is again opened, capacitor voltage becomes 90 V after half second. Calculate values of R and C for given circuit. L, K 1009 100 R Fig. 6.33 Solution : Initially switch K is kept open for very long time. So initial voltage on capacitor is given by, ve(0") = Vo= ve(0")=0V Because voltage across capacitor cannot change instantaneously. i