s-Domain Circuit Analysis

Operate directly in the s-domain with capacitors,

inductors and resistors
Key feature – linearity – is preserved
Ccts described by ODEs and their ICs
Order equals number of C plus number of L
Element-by-element and source transformation
Nodal or mesh analysis for s-domain cct variables
Solution via Inverse Laplace Transform
Why?
Easier than ODEs
Easier to perform engineering design
Frequency response ideas - filtering

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MAE140 Linear Circuits
 Element Transformations
Voltage source i(t)
Time domain
vS +
_
v(t) =vS(t)
i(t) = depends on cct
Transform domain
V(s) =VS(s)=L(vS(t))
I(s) = L(i(t)) depends on cct
Current source
iS
I(s) =L(iS(t))
V(s) = L(v(t)) depends on cct v(t)

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MAE140 Linear Circuits
 Element Transformations contd
v1(t ) = µv2 (t ) ! V1( s ) = µV2 ( s )
Controlled sources
i1(t ) = "i2 (t ) ! I1( s ) = "I 2 ( s )
v1(t ) = ri2 (t ) ! V1( s ) = rI 2 ( s )
i1(t ) = gv2 (t ) ! I1( s ) = gV2 ( s )

Short cct, open cct, OpAmp relations

vSC (t ) = 0 ! VSC ( s ) = 0
iOC (t ) = 0 ! I OC ( s ) = 0
v N (t ) = vP (t ) ! VN ( s ) = VP ( s )

Sources and active devices behave identically

Constraints expressed between transformed variables

This all hinges on uniqueness of Laplace Transforms and

linearity

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MAE140 Linear Circuits
 Element Transformations contd
iR iC iL
+ +
Resistors vR
+
vC vL
vR (t ) = RiR (t ) iR (t ) = GvR (t )
VR ( s ) = RI R ( s ) I R ( s ) = GVR ( s )
1
Z R ( s) = R YR ( s ) =
Capacitors R
dv (t ) 1t
iC (t ) = C C vC (t ) = " iC (# )d# + vC (0)
dt C0
1 v ( 0)
I C ( s ) = sCVC ( s ) ! CvC (0!) VC ( s ) = IC (s) + C
sC s
Inductors 1
Z C (s) = YC ( s ) = sC
diL (t ) 1t sC
vL (t ) = L iL (t ) = " vL (# )d# + iL (0)
dt L0
1 i ( 0)
VL ( s ) = sLI L ( s ) ! LiL (0) I L (s) = VL ( s ) + L
sL s
1
Z L ( s ) = sL YL ( s ) =
sL
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MAE140 Linear Circuits
 Element Transformations contd
iR(t) IR(s)
Resistor + +
VR ( s ) = RI R ( s )
vR(t) R VR(s) R

- -

Capacitor IC(s)
iC(t) IC(s)
+ + +
1
1
vC(t) C VC(s) sC
sC CvC (0)
- - VC(s)
+ vC (0)
_
s
1 v (0) -
I C ( s ) = sCVC ( s ) − CvC (0−) VC ( s ) = IC (s) + C
sC s

Note the source transformation rules apply!

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MAE140 Linear Circuits
 Element Transformations contd

Inductors VL ( s ) = sLI L ( s ) − LiL (0) I L (s) =

1 i (0)
VL ( s ) + L
sL s

IL(s)
IL(s)
+
+
iL(t) sL i L ( 0)
VL(s) sL
+ s
VL(s)
-
vL(t)
_
-
+ LiL(0)
-

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MAE140 Linear Circuits
 Example 10-1 T&R p 456

RC cct behavior
Switch in place since t=-∞, closed at t=0. Solve for vC(t).
t=0 R R I1(s)
I2(s)
+ 1
vC C
VA CvC (0)
- sC

Initial conditions vC (0) = V A

s-domain solution using nodal analysis
V (s) V (s)
I1( s ) = C I 2 (s) = C = sCVC ( s )
R 1
sC
t-domain solution via inverse Laplace transform
VA !t
VC ( s ) = vc (t ) = V Ae RC u (t )
1
s+
RC
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MAE140 Linear Circuits
 Example 10-2 T&R p 457
R
Solve for i(t) +
R VA +
_ sL
s I(s) VL (s )
VAu(t) +
_ L
i(t) _
+ LiL(0)
-

VA
KVL around loop ! ( R + sL) I ( s ) + LiL (0) = 0
s
# &
VA VA %iL (0) " V A (
Solve I(s) = L + iL (0) = R +$ R'
s s+ RL s+ RL
( ) s s+ RL

#V A V A " Rt " Rt L &

Invert
!
i(t) = %
$ R
"
R
e L + iL (0)e (u(t) Amps
'

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MAE140 Linear Circuits

!
 Impedance and Admittance

Impedance is the s-domain proportionality factor

relating the transform of the voltage across a two-
terminal element to the transform of the current
through the element with all initial conditions zero

Admittance is the s-domain proportionality factor

relating the transform of the current through a
two-terminal element to the transform of the
voltage across the element with initial conditions
zero

Impedance is like resistance

Admittance is like conductance
140
MAE140 Linear Circuits
 Circuit Analysis in s-Domain

Basic rules
The equivalent impedance Zeq(s) of two impedances Z1(s)
and Z2(s) in series is Z eq ( s ) = Z1( s ) + Z 2 ( s )
I(s)
Same current flows + Z1
V ( s ) = Z1( s ) I (s )+ Z 2 ( s ) I ( s ) = Z eq ( s ) I (s ) V(s) Z2
-

The equivalent admittance Yeq(s) of two admittances Y1(s)

and Y2(s) in parallel is Yeq ( s ) = Y1( s ) + Y2 ( s )
I(s)
Same voltage +
I ( s ) = Y1( s )V ( s ) + Y2 ( s )V ( s ) = Yeq ( s )V ( s ) V(s) Y1 Y2
-
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MAE140 Linear Circuits
 Example 10-3 T&R p 461

Find ZAB(s) and then find V2(s) by voltage division

L sL
A A
+ +
v1(t) + v2(t) 1
_ C R V1(s) +
_ R V2(s)
sC
- -
B B
2+ +R
1 1 RLCs Ls
Z eq ( s ) = sL + R = sL + = Ω
sC 1+ RCs 1+
sC
R

& Z1( s ) # & R #

V2 ( s ) = $ V
! 1 ( s ) = $ !V1( s )
2
$% Z eq ( s ) !" % RLCs + sL + R "

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MAE140 Linear Circuits
 Superposition in s-domain ccts

The s-domain response of a cct can be found as the

sum of two responses
1. The zero-input response caused by initial condition
sources with all external inputs turned off
2. The zero-state response caused by the external sources
with initial condition sources set to zero
Linearity and superposition
Another subdivision of responses
1. Natural response – the general solution
Response representing the natural modes (poles) of the
cct
2. Forced response – the particular solution
Response containing modes due to the input

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MAE140 Linear Circuits
 Example 10-6 T&R p 466

The switch has been open for a long time and is closed
at t=0.
Find the zero-state and zero-input components of V2(s)
Find v(t) for IA=1mA, L=2H, R=1.5KΩ, C=1/6 µF
+
t=0

v(t) V(s)
IA R
1
L R C sL RCIA
IA s sC
- -
IA
IA C
1 RLs V zs ( s ) = Z eq ( s ) =
Z eq ( s) = = s s2 + 1 s + 1
1 +1+ 2
sC RLCs + Ls + R RC LC
sL R
RI A s
Vzi ( s ) = Z eq ( s ) RCI A =
1 1
s2 + s+
MAE140 Linear Circuits RC LC144
 Example 10-6 contd
IA +
I C
Vzs ( s ) = Z eq ( s ) A =
s s2 + 1 s + 1 V(s)
IA R
1
RC LC sL RCIA
s sC
RI A s -
Vzi ( s ) = Z eq ( s ) RCI A =
1 1
s2 + s+
RC LC

Substitute values 6000 3 "3

Vzs (s) = = +
(s + 1000)(s + 3000) s + 1000 s + 3000
[ ]
v zs (t) = 3e"1000t " 3e"3000t u(t)

1.5s "0.75 2.25

Vzi (s) = = +
! (s + 1000)(s + 3000) s + 1000 s + 3000
[ ]
v zi (t) = "0.75e"1000t + 2.25e"3000t u(t)

145
MAE140 Linear Circuits

!
 Example 10-11 T&R (not in 4th ed)

Formulate node voltage equations in s-domain

R1 C2 R2
+
+
v1(t) + C1 R3 vx(t) + µvx(t) v (t)
_ - 2
-
-

R1 R2
A B C D
+
+
1 + µVx(s) V (s)
V1(s) +
_ R3 Vx(s) 2
sC1 -
-
-
C1vC1(0) 1 C2vC2(0)
sC2
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MAE140 Linear Circuits
Example 10-11 contd R1 R2
A B C D
+
+
1 + µVx(s) V (s)
V1(s) +
_ R3 Vx(s) 2
sC1 -
-
-
C1vC1(0) 1 C2vC2(0)
sC2
Node A: V A ( s) = V1( s) Node D: VD ( s) = µVx ( s) = µVC ( s)

Node B: VB (s) " V A (s) VB (s) " VD (s) VB (s)

+ +
R1 R2 1
sC1
V (s) " VC (s)
+ B " C1vC1 (0) " C2vC 2 (0) = 0
1
sC2

Node C: "sC2VB (s) + [ sC2 + G3 ]VC (s) = "C2vC 2 (0)

!
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MAE140 Linear Circuits

!
 Example 10-16 T&R (not in 4th ed)

Find vO(t) when vS(t) is a unit step u(t) and vC(0)=0

A B C D
+
R1 R2
C vO(t)
vS(t) +
_ -
+

Convert to s-domain 1
VA(s)
R1 VB(s) sC VC(s) R2 VD(s)
+
VO(s)
VS(s) +
_ -
CvC(0) +

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MAE140 Linear Circuits
 1
Example 10-16 contd R1 VB(s) sC VC(s) R2 VD(s)
VA(s)
+
Nodal Analysis VS(s) +
_ -
VO(s)

Node A: V A ( s ) = VS ( s ) CvC(0) +

Node D: VD ( s ) = VO ( s )
Node C: VC ( s ) = 0
Node B: (G1 + sC )VB ( s ) ! G1VS ( s ) = CvC (0)
Node C KCL: ! sCVB ( s ) ! G2VO ( s ) = !CvC (0)
Solve for VO(s) ( sG1C % ( %
& G R
2 #V ( s ) = " & 1 ! s #V ( s )
VO ( s ) = " & S
G1 + sC # & R2 s + 1 # S
&' #$ ' R1C $
( %
R s # 1 = " R1 ! 1
= "& 1 !
& R2 s + 1 # s R2 s + 1
' R1C $ R1C
− t
Invert LT − R1 R C
vO (t ) = e 1 u (t )
MAE140 Linear Circuits
R2 149
 Features of s-domain cct analysis

The response transform of a finite-dimensional,

lumped-parameter linear cct with input being a
sum of exponentials is a rational function and its
inverse Laplace Transform is a sum of exponentials
The exponential modes are given by the poles of the
response transform
Because the response is real, the poles are either
real or occur in complex conjugate pairs
The natural modes are the zeros of the cct
determinant and lead to the natural response
The forced poles are the poles of the input transform
and lead to the forced response

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MAE140 Linear Circuits
 Features of s-domain cct analysis

A cct is stable if all of its poles are located in the

open left half of the complex s-plane
A key property of a system
Stability: the natural response dies away as t→∞
Bounded inputs yield bounded outputs
A cct composed of Rs, Cs and Ls will be at worst
marginally stable
With Rs in the right place it will be stable
Z(s) and Y(s) both have no poles in Re(s)>0
Impedances/admittances of RLC ccts are “Positive
Real” or energy dissipating

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MAE140 Linear Circuits