ECEN325: Electronics

Spring 2020

Lecture 2: Linear Circuit Analysis Review

Sam Palermo
Analog & Mixed-Signal Center
Texas A&M University
Announcements
• Reading
• Chapter 1 (Razavi)
• Fundamentals of Circuit Analysis (Dr. Silva)
• Homework 1 is posted on website and due Jan 27
• Lab 1 is due on Jan 29-30

2
Agenda
• Laplace Transform
• Passive Circuit s-Domain Models
• Transfer Functions
• Sinusoidal Steady-State Response
• Poles & Zeros
• Bode Plots
• Second-Order Systems

3
References
• Continuous & Discrete Signal & System Analysis,
3rd Ed., C. McGillem and G. Cooper, Saunders
College Publishing, 1991.

• Feedback Control of Dynamic Systems, 3rd Ed., G.

Franklin, J. Powell, and A. Emami-Naeini,
Addison-Wesley, 1994.

• Design of Analog Filters, R. Schaumann and M.

Van Valkenburg, Oxford University Press, 2001.

4
Motivation Example

Given vo 0   0

Write a KCL at vo
vo t   sin 105 t dv t 
 10nF o  0
1k dt
dvo t  vo t  sin 105 t
 
dt 1k 10nF  1k 10nF 
Now, if we remember anything from out Diff. Eq. class, we can solve this equation.
Note, this is not trivial.

vo t  
1 105 t
2
e
1 1 1
 cos105 t  sin 105 t  e 10 t 
2 2 2
5 1

sin 105 t  45 
2

transient response sinusoidal steady-state

(can go to zero quickly) response

• Now, let’s look at Laplace Transforms to make this easier

5
Laplace Transform
• Laplace transforms are useful for solving
differential equations
• One-Sided Laplace Transform

Lxt   X s   xt e  st dt

0

where s is a complex variable

s    j
Note, j   1 and  is the angular frequency (rad/s)

• s has units of inverse seconds (s-1)

6
Laplace Transform of Signals

[McGillem]

7
Laplace Transform of Operations

[McGillem]

8
Resistor s-Domain Equivalent Circuit
vt   Rit 
Time-domain Representation:
i t   vt 
1
R

V s   RI s  I s   V s 
1
Complex Frequency R
Representation:

9
Capacitor s-Domain Equivalent Circuit
dvt 
i t   C
dt
Time-domain Representation:
1t
vt    i  d  v0
C0

I s   CsV s   Cv0  V s   I s   v0 

1 1
Complex Frequency sC s
Representation:

10
Inductor s-Domain Equivalent Circuit
di t 
vt   L
dt
Time-domain Representation:
1t
i t    v d  i 0 
L0

I s   V s   i0
1 1
Complex Frequency V s   LsI s   Li 0  sL s
Representation:

11
s-Domain Impedance w/o I.C.

V s   I s R V s   I s sL
1
V s   I s 
sC
1
Z s   R Z s   Z s   sL
sC

12
Transfer Function

L vo t  Vo s 
H s   
L vi t  Vi s 

• The transfer function H(s) of a network is the

ratio of the Laplace transform of the output and
input signals when the initial conditions are zero
• This is also the Laplace transform of the
network’s impulse response
13
RC Transfer Function

1
Vo s   Vin s   Vin s   Vin s 
ZC sC 1
Z R  ZC R
1 1  sRC
sC

AC Transfer Function, H(s)

Vo s 
H s  
1

Vin s  1  sRC

14
Laplace Transform Circuit Example
Given vo 0  0

Convert to
Laplace Domain
Vo s  10 5
H s  
1 1
  
Vin s  1  sRC 1  s s  10 5
10 5
 10 5  5 

Vo s   H s Vi s     10
 s  10 5  2
  
 s  10 5 
2 

with partial fraction expansion

1 1
s  
1 5
10
Vo s   2  2  2
 
s  10 5 s 2  10 5 2 s 2  10 5 2 
with inverse Laplace Transform

v o t  
1 105 t
2
e
1 1 1
 cos10 5 t  sin 10 5 t  e 10 t 
2 2 2
5 1

sin 10 5 t  45 
2
15
Laplace Transform Circuit Example
We can decompose the output into it' s transient and steady - state response

v o t   e 10 t 
1
2
5 1
 
sin 10 5 t  45  vtr t   v ss t 
2

v tr t   e 10 t
1 5

2
v ss t  
1
 
sin 10 5 t  45
2

• Note that the transient response decays very quickly!

16
Sinusoidal Steady-State Response

If input vi t  is sinusoidal

vi t   A cost   

The steady - state output will be

v ss t   H  j  A cost    H  j 

• Here we have evaluated the transfer function H(s) with s=jω

• The magnitude of H(jω) scales the input amplitude
• The phase of H(jω) shifts the input phase
17
RC Circuit Sinusoidal Steady-State Response

Vo s  1 s  j
H s    H  j  
1

Vin s  1  sRC 1  jRC

Output Magnitude
   H  j  
1
H  j   H  j H  j   
1 1
*
 
 1  jRC  1  jRC  1  RC 2

Output Phase
 ImH  j    ImNum    ImDen  
H  j   tan 1    tan 1    tan 1  
 Re  H  j     Re  Num    Re  Den  
H  j    tan 1 RC 
where Num  Numerator and Den  Denominator of H  j 

0  RC 
H  j   tan 1    tan 1     tan RC 
1
1  1 

18
RC Circuit Sinusoidal Steady-State
Response Example

H s  
1
s
1
10 5
with s  j  j10 5


H j10 5   1
1 j


H j10 5
 1
2

1
2

 
H j10 5   tan 1 1  45

v ss t  
1

sin 10 5 t  45 
2
19
Complex Numbers Properties
[Silva]

Numerical Example
1  j1010  j10
100  j101000  j10
1  j1010  j10 
12  10 2 10 2  10 2
 1.41 10 3
100  j101000  j10 100 2  10 2 1000 2  10 2


1  j1010  j10  tan 1  10   tan 1  10   tan 1  10   tan 1  10   123
       
100  j101000  j10  1  
10  100   1000 
20
Inverse Tangent Function

(pi/4)/dec. 45/dec.

• For small values approximately 0

• For large values saturates at /2 or 90°
• Between 0.1 and 10 can be approximated as
changing with a slope of 45° per decade 21
 Poles & Zeros
H s   A
s  z1 s  z2 ...s  zm 
s  p1 s  p2 ...s  pn 
• Poles are the roots of the denominator (p1, p2, … pn) where H(s)∞
• Zeros are the roots of the numerator (z1, z2, … zm) where H(s)0
105
Example 1 : H s   100s  15
s  105 Example 3 : H s  
s 2  50 s  1500
s  105  0
s  15  0
p1  s  105 rad / s z1  s  15rad / s

Example 2 : H s  
s s 2  50 s  1500  0
s  105
z1  s  0rad / s  50  2500  6000
p1, 2  s1, 2   25  j 29.6rad / s
2
s  105  0

p1  s  105 rad / s
22
Bode Plots
• Technique to plot the Magnitude (squared) and
Phase response of a transfer function
• Magnitude is plotted in Decibels (dB), which is a power
ratio unit
dB

H  j  10 log10 H  j 
2 2
dB  20 log
10  H  j   dB
• Phase is typically plotted in degrees

ImH  j  
1 
H  j   tan  
 ReH  j  

23
RC Bode Plot Example

Vo s  s  j
H s  
1 1 1
  
Vin s  1  sRC 1  s10 5 1  j10 5

H  j  
1 1
 , where p   10 5
rad/s
1  j10 5 j 1
1
p1
Magnitude Squared (dB):

20 log10 H  j   20 log10
1 

 20 log10 1  20 log10  1  10 5 
2 


1  10 5 
2  

Phase: 
PhaseH  j    tan 1 10 5 
24
 RC Bode Plot Example H  j  
1
1  j10 5

Magnitude:

20 log10 H  j   20 log10
12 

 20 log10 1  20 log10  1  10 5  
2


12  10 5 
2  

Phase: 
PhaseH  j    tan 1 10 5 
 (rad/s) |H(j)| |H(j)|2 20log10|H(j)| (dB) Phase (H(j)) ()
103 0.9999 0.9999 ~0 ~0
~20log10 (1) 104 0.995 0.990 -0.043 -5.71
= 0dB 5x104 0.894 0.800 -0.969 -26.6
105 0.707 0.500 -3.01 -45.0 -45/dec
5x105 0.196 0.039 -14.2 -78.7
106 0.100 0.010 -20.0 -84.3
~-20log10 (10-5) 107 10-2 10-4 -40.0 -89.4
= -20dB/dec
108 10-3 10-6 -60.0 -89.9

25
RC Bode Plot Example
Max Error = 3.01dB

-20dB/dec

Max Error = 5.71

-45/dec

26
Transient Response

 = 103 rad/s = -p1/100  = 105 rad/s = -p1  = 106 rad/s = 10*p1

vo t   1 vo t   0.1
vo t  
1

2
Phase Shift  0 Phase Shift  84.3
Phase Shift  -45

27
Bode Plot Algorithm - Magnitude
1. Where is a good starting point?
a. Calculate DC value of |H(j)|
b. If not a reasonable value, I like to calculate |H(j)| at  equal
to the lowest non-zero value of p1/10 or z1/10
2. Where to end?
a. Calculate |H(j)| as ∞
3. Where are the poles and zeros?
a. Beginning at each pole frequency, the magnitude will decrease
with a slope of -20dB/dec
b. Beginning at each zero frequency, the magnitude will increase
with a slope of +20dB/dec
4. Note, the above algorithm is only valid for real poles
and zeros. We will discuss complex poles later.

28
 Bode Plot Algorithm - Magnitude
104 s  1 101  s 
H s    
s  10s  100 1  s 1  s  20 log10 H  j   20 log10
10 1   2

  
 10  100  1  10 
1 2
1  10 
2 2

DC Magnitude  10  20dB
 
20 log10 10   20 log10 1   2  20 log10  1  101    20 log10  1  10 2  

2

 
2


HF Magnitude  0  dB

z1  1, p1  10, p2  100

+20dB/dec. -20dB/dec.

-20dB/dec.

+20dB/dec.
-20dB/dec.

29
Bode Plot Algorithm - Phase
1. Calculate low frequency value of Phase(H(j))
a. An negative sign introduces -180 phase shift
b. A DC pole introduces -90 phase shift
c. A DC zero introduces +90 phase shift
2. Where are the poles and zeros?
a. For negative poles: 1 dec. before the pole freq., the phase will
decrease with a slope of -45/dec. until 1 dec. after the pole
freq., for a total phase shift of -90
b. For negative zeros: 1 dec. before the zero freq., the phase will
increase with a slope of +45/dec. until 1 dec. after the zero
freq., for a total phase shift of +90
c. Note, if you have positive poles or zeros, the phase change
polarity is inverted
3. Note, the above algorithm is only valid for real poles
and zeros. We will discuss complex poles later. 30
 Bode Plot Algorithm - Phase

104 s  1 101  s        
H s     H  j   180  tan 1    tan 1    tan 1  
s  10s  100 1  s 1  s  1  10   100 
  
 10  100 
LF Phase   180
z1  1, p1  10, p2  100

+45/dec.
-90/dec.

+45/dec. -45/dec.
-45/dec. -45/dec.

31
Second-Order Systems:
Real or Complex Poles?

k102
H s  
0
s2  s  02
Q
2
0  
2 poles p1, p2     0   02
2Q  2Q 

2 real poles if Q  0.5

2 complex conjugate poles if Q  0.5

32
Second-Order Systems – Real Poles (1)
104 104 2 poles : p1  1, p2  1000
H s   2 
s  1001s  1000 s  1s  1000 
Note, Q  0.032

-20dB/dec.
-45/dec.

-40dB/dec.

-45/dec.

• If poles are spaced by more than 2 decades, there

are 2 distinct regions of -45/dec phase slope
33
Second-Order Systems – Real Poles (2)
100 100 2 poles : p1  1, p2  10
H s   2 
s  11s  10 s  1s  10 Note, Q  0.287

-20dB/dec. -45/dec.

-40dB/dec.
-90/dec.

-45/dec.

• If poles are spaced by less than 2 decades, there is a region

of -90/dec phase slope
• Watch out for system stability!
34
 Second-Order Systems – Complex Poles

k102
H s  
0
s2  s  02
Q
What is the low frequency magnitude?
H  j 0   k1
What is the high frequency magnitude?
k102
H  j    -40dB/dec. slope at high frequencies
   2

What happens in the middle, particularly near 0?

k102
H  j 0    k1Q
02
 02  j  02
Q
Note, if Q  1 then the magnitude exceeds the low frequency value, i.e. frequency peaking occurs!

35
Frequency Peaking w/ Complex Poles
Where is the peak frequency? For k1=1 and 0=1

 
 
d H  j  d  
2
k1 0
2 4
  0
d d 
 
2
2 2  0  

 0
2
    
 Q  
   

1
 pk  0 1   0 for large Q
2Q 2

At  pk , the peak value is

k1Q
T pk   k1Q for large Q
1
1
4Q 2

• Note, phase always

crosses -90 at 0
[Schaumann] 36
Second-Order Systems’ Bode Plots Summary

• 2 real poles  Plot with standard Bode plot

techniques
• 2 complex poles  Approximate as 2 real poles
at 0
• Past 0 the magnitude decreases at -40dB/dec
• From 0.10 to 100 the phase slope is -90°/dec
• A more exact plot of second order systems can
be obtained by calculating Q and using the
reference plots on the previous slide

k102
H  j0    k1Q
02
 02  j  02
Q 37
Next Time
• OpAmp Circuits
• Reading
• Razavi 8.1,2,4,5

38