Chapter 8

Natural and Step Responses of

RLC Circuits

8.1-2 The Natural Response of a Parallel RLC

Circuit
8.3 The Step Response of a Parallel RLC
Circuit
8.4 The Natural and Step Response of a
Series RLC Circuit

1
Key points

 What do the response curves of over-, under-,

and critically-damped circuits look like? How to
choose R, L, C values to achieve fast switching
or to prevent overshooting damage?

 What are the initial conditions in an RLC circuit?

How to use them to determine the expansion
coefficients of the complete solution?

 Comparisons between: (1) natural & step

responses, (2) parallel, series, or general RLC.
2
Section 8.1, 8.2
The Natural Response of a
Parallel RLC Circuit

1. ODE, ICs, general solution of parallel

voltage
2. Over-damped response
3. Under-damped response
4. Critically-damped response
3
The governing ordinary differential equation (ODE)

V0, I0, v(t) must

satisfy the
passive sign
convention.

dv  1 t  v
 By KCL: C   I 0   v (t )dt    0.
dt  L 0  R

 Perform time derivative, we got a linear 2nd-

order ODE of v(t) with constant coefficients:
d 2 v 1 dv v
2
   0.
dt RC dt LC 4
The two initial conditions (ICs)

 The capacitor voltage cannot change abruptly,

 v (0 )  V0 (1)
 The inductor current cannot change abruptly,
 iL (0 )  I 0 , iC (0 )  iL (0 )  iR (0 )   I 0  V0 R ,
dvC I 0 V0

 iC (0 )  C ,  vC (0 )  v(0 )   
 
 ( 2)
dt t 0 C RC
5
General solution
 Assume the solution is v(t )  Ae st, where A, s are
unknown constants to be solved.
 Substitute into the ODE, we got an algebraic
(characteristic) equation of s determined by the circuit
parameters: s 1
s 
2
  0.
RC LC
 Since the ODE is linear,  linear combination of
solutions remains a solution to the equation. The
general solution of v(t) must be of the form:
v (t )  A1e s1t  A2e s2t ,
where the expansion constants A1, A2 will be determined
by the two initial conditions.
6
Neper and resonance frequencies

 In general, s has two roots, which can be (1)

distinct real, (2) degenerate real, or (3) complex
conjugate pair.
2
1  1  1
s1, 2          2  02 ,
2 RC  2 RC  LC
where
1
 , …neper frequency
2 RC

1
0  …resonance (natural) frequency
LC
7
Three types of natural response

 How the circuit reaches its steady state depends

on the relative magnitudes of  and 0:

The Circuit is When Solutions

real, distinct
Over-damped   
roots s1, s2
complex roots
Under-damped   
s1 = (s2)*
real, equal roots
Critically-damped   
s1 = s2
8
Over-damped response ( > 0)

 The complete solution and its derivative are of

the form:
v (t )  A1e  A2e ,
s1t s2 t


v(t )  A1s1e s1t  A2 s2e s2t .

where s1, 2     2  02 are distinct real.

 Substitute the two ICs:

v (0 )  A1  A2  V0 (1)  solve

 I 0 V0 A1, A2.
v(0 )  s1 A1  s2 A2   C  RC ( 2)



9
Example 8.2: Discharging a parallel RLC circuit (1)

 Q: v(t), iC(t), iL(t), iR(t) = ?

12 V 30 mA

 1 1
  2 RC  2( 200)( 2  107 )  12.5 kHz,  >0,
 over-
 1 1
0    10 kHz. damped
 LC (5  102 )( 2  107 )
10
Example 8.2: Solving the parameters (2)

 The 2 distinct real roots of s are:

 s     2   2  5 kHz, …|s1| < (slow)
1 0

 2
s     2
 0  20 kHz. …|s2| > (fast)
2

 The 2 expansion coefficients are:

 A1  A2  V0
  A1  A2  12
 I 0 V0  
 s1 A1  s2 A2   C  RC  5 A1  20 A2  450

 A1  14 V, A2  26 V.
11
Example 8.2: The parallel voltage evolution (3)

v (t )  A1e s1t  A2e s2t   14e 5000t  26e 20000t  V.

|s2| > (fast) Converge

dominates to zero

“Over”
|s1| < (slow)
damp
dominates

12
Example 8.2: The branch currents evolution (4)

 The branch current through R is:

iR (t ) 
v(t )
200 
 
  70e 5000t  130e  20000t mA.

 The branch current through L is:

iL (t )  30 mA 
1
50 mH 0
t
v (t ) d t  56 e 5000 t
 26e 
 20000 t
mA.

 The branch current through C is:

dv

iC (t )  (0.2 μF)  14e 5000t  104e  20000t mA.
dt

13
Example 8.2: The branch currents evolution (5)

Converge
to zero

14
General solution to under-damped response ( < 0)

 The two roots of s are complex conjugate pair:

s1, 2     2  02    jd ,

where d  02   2 is the damped frequency.

 The general solution is reformulated as:

v (t )  A1e(   jd ) t  A2e(   jd ) t
 e t A1 cos d t  j sin d t   A2 cos d t  j sin d t 
 e t  A1  A2  cos d t  j  A1  A2 sin d t 
 e t B1 cos d t  B2 sin d t .
15
Solving the expansion coefficients B1, B2 by ICs

 The derivative of v(t) is:

v(t )  B1  e t cos d t  d e t sin d t 
 B2  e t sin d t  d e t cos d t 
 e t  B1  d B2  cos d t  B2  d B1 sin d t .

 Substitute the two ICs:

v (0 )  B1  V0 (1)
  solve
 I 0 V0 B1, B2.
v(0 )  B1  d B2   C  RC (2)


16
Example 8.4: Discharging a parallel RLC circuit (1)

 Q: v(t), iC(t), iL(t), iR(t) = ?

0V
-12.25 mA

 1 1
  2 RC  2( 2  104 )(1.25  107 )  0.2 kHz,  < 0,

 1 1 under-
0    1 kHz. damped
 LC 7
(8)(1.25  10 )
17
Example 8.4: Solving the parameters (2)

 The damped frequency is:

d      1  0.2  0.98 kHz.

2
0
2 2 2

 The 2 expansion coefficients are:

 B1  V0  0(1)
  B1  0,
 I 0 V0 
 B1  d B2   C  RC ( 2)  B2  100 V

18
Example 8.4: The parallel voltage evolution (3)

v (t )  B1e t cos d t  B2e t sin d t  100e 200t sin 980t  V.

 The voltage
oscillates (~d) and
approaches the final
value (~), different
from the over-
damped case (no
oscillation, 2 decay
constants).

19
Example 8.4: The branch currents evolutions (4)

 The three branch currents are:

20
Rules for circuit designers

 If one desires the circuit reaches the final value

as fast as possible while the minor oscillation is
of less concern, choosing R, L, C values to
satisfy under-damped condition.
 If one concerns that the response not exceed its
final value to prevent potential damage,
designing the system to be over-damped at the
cost of slower response.

21
General solution to critically-damped response ( = 0)

 Two identical real roots of s make

v (t )  A1e st  A2e st  ( A1  A2 )e st  A0e st ,
not possible to satisfy 2 independent ICs (V0, I0)
with a single expansion constant A0.
 The general solution is reformulated as:
v (t )  e t D1t  D2 .

 You can prove the validity of this form by

substituting it into the ODE:
v(t )  ( RC ) 1 v(t )  ( LC ) 1 v (t )  0.
22
Solving the expansion coefficients D1, D2 by ICs

 The derivative of v(t) is:

v(t )  D1 e t  te t   D2e t  D1  D2   D1t e t .

 Substitute the two ICs:

v (0 )  D2  V0  (1)

 I 0 V0  solve D1, D2.
v(0 )  D1  D2   C  RC ( 2)


23
Example 8.5: Discharging a parallel RLC circuit (1)
 Q: What is R such that the circuit is critically-
damped? Plot the corresponding v(t).

R
0V
-12.25 mA

1 1 1 L 1 8
  0 ,  , R  7
 4 k.
2 RC LC 2 C 2 1.25  10
 Increasing R tends to bring the circuit from over-
to critically- and even under-damped.
24
Example 8.5: Solving the parameters (2)

 The neper frequency is:

1 1
  7
 1 kHz,
2 RC 2(4  10 )(1.25  10 )
3

1
    1 ms.

 The 2 expansion coefficients are:
 D2  V0  0 (1)
 -12.25 mA  D1  98 kV s
 I 0 V0 
 D1  D2   C  RC  ( 2)  D2  0
0.125 F 25
Example 8.5: The parallel voltage evolution (3)
 
v(t )  D1te t  D2 e t  98,000te 1000t V.

98 V/ms

26
Procedures of solving nature response of parallel RLC

 Calculate parameters   (2 RC ) 1 and 0  1 LC .

 Write the form of v(t) by comparing  and :
 A e s1t  A e s2t , s  -   2   2 , if    ,
 1 2 1, 2 0 0
 t
v (t )  e B1 cos d t  B2 sin d t , d  02   2 , if   0 ,
 t
e D1t  D2 , if   0 .

 Find the expansion constants (A1, A2), (B1, B2), or

(D1, D2) by two ICs: v(0 )  V0 (1),

 I 0 V0
 
v (0 )   C  RC (2)

27
Section 8.3
The Step Response of
a Parallel RLC Circuit

1. Inhomogeneous ODE, ICs, and general

solution

28
The homogeneous ODE

+
Is V0 I0


dv  1 t  v
 By KCL: C   I 0   v (t )dt    I s .
dt  L 0  R
 Perform time derivative, we got a homogeneous
ODE of v(t) independent of the source current Is:
d 2 v 1 dv v
2
   0.
dt RC dt LC
29
The inhomogeneous ODE

Is iL
V0 I0

 Change the unknown to the inductor current iL(t):

 dv v
C dt  iL  R  I s , d 2iL 1 diL iL Is
  2   
v  L diL , dt RC dt LC LC
 dt

30
The two initial conditions (ICs)

Is iL
V0 I0

 The inductor current cannot change abruptly,

 iL (0 )  I 0 (1)
 The capacitor voltage cannot change abruptly,
 vC (0 )  V0  vL (0 ),
diL V0

 vL (0 )  L ,  iL (0 )  ( 2)


dt t 0 L
31
General solution

 The solution is the sum of final current If = Is and

the nature response iL,nature(t):
iL (t )  I f  iL,nature (t ),
where the three types of nature responses were
elucidated in Section 8.2:

 I f  A1e s1t  A2e s2t , if   0 ,


iL (t )   I f  e t B1 cos d t  B2 sin d t , if   0 ,

 f
I  e t
D1t  D2 , if   0 .
32
 Example 8.7: Charging a parallel RLC circuit (1)

 Q: iL(t) = ?

I0 = 0
Is=
24
mA V0 = 0 625 

 1 1
  2 RC  2(625)( 2.5  108 )  32 kHz,   < 0,

 1 1 under-
0    40 kHz. damped
 LC 2 8
(2.5  10 )( 2.5  10 )
33
Example 8.7: Solving the parameters (2)

 The complete solution is of the form:

iL ( t )  I s  e t
B1 cos d t  B2 sin d t ,

where d  0
2
  2
 40 2
 32 2
 24 kHz.

 The 2 expansion coefficients are:

 I s  B1  I 0  0(1)
  B1  24 mA,
 V0 
 B1  d B2  L  0(2)  B2  32 mA

34
Example 8.7: Inductor current evolution (3)

 
iL (t )  24  24e 32,000t cos(24,000t )  32e 32,000t sin(24,000t ) mA.

35
 Example 8.9: Charging of parallel RLC circuits (1)

 Q: Compare iL(t) when the resistance R = 625 

(under-damp), 500  (critical damp), 400 
(over-damp), respectively.

I0 = 0
Is=
24
mA V0 = 0

 Initial & final conditions remain: iL(0+)=0, i'L(0+)=0,

If = 24 mA. Different R’s give different functional
forms and expansion constants. 36
Example 8.9: Comparison of rise times (2)

 The current of an under-damped circuit rises

faster than that of its over-damped counterpart.

37
Section 8.4
The Natural and Step
Response of a Series RLC
Circuit
1. Modifications of time constant, neper
frequency

38
ODE of nature response

V0, I0, i(t) must

satisfy the
passive sign
convention.

di  1 t 
 By KVL: Ri  L 
dt V0  
C 0
i ( t ) dt 

 0.

2
d i R di i
 By derivative:
2
   0.
dt L dt LC
1
in parallel RLC
RC 39
The two initial conditions (ICs)

 The inductor cannot change abruptly,

 i (0 )  I 0 (1)
 The capacitor voltage cannot change abruptly,
 vC (0 )  V0 , vL (0 )  vC (0 )  vR (0 )  V0  I 0 R,
diL V0  I 0 R

 vL (0 )  L ,  iL (0 )  i(0 )  
 
 ( 2)
dt t 0 L 40
General solution

 Substitute i ( t )  Ae st
into the ODE, we got a
different characteristic equation of s:
R 1
s  s
2
 0.  s1, 2     2
  2
0.
L LC
 The form of s1,2 determines the form of general
solution:  A1e s t  A2e s t , if   0
1 2

 t
i (t )  e B1 cos d t  B2 sin d t , if   0
e t D t  D , if   
 1 2 0

R 1
where   , 0  , d  02   2 .
2L LC
( 2 RC ) 1 in parallel RLC 41
Example 8.11: Discharging a series RLC circuit (1)

 Q: i(t), vC(t) = ?

I0 = 0
vC(0-) = 100 V, +
 V0 = -100 V
 100 V

 R 560
  2 L  2(0.1)  2.8 kHz,  <0,

 1 1 under-
0    10 kHz. damped
 LC 7
(0.1)(1  10 )
42
Example 8.11: Solving the parameters (2)

 The damped frequency is:

d      10  2.8  9.6 kHz.

2
0
2 2 2

 The 2 expansion coefficients are:

 B1  I 0  0(1)
 -100 V  B1  0,
 V0  I 0 R 
 B1  d B2   L
(2)  B2  104.2 mA
9.6
kHz 100 mH

43
 Example 8.11: Loop current evolution (3)
i (t )  e t B1 cos d t  B2 sin d t   104.2e 2,800t sin 9,600t  mA.

44
Example 8.11: Capacitor voltage evolution (4)

vc (t )  Ri (t )  Li(t ) 
e 2,800t 100 cos 9,600t  29.17 sin 9,600t  V.

 When the capacitor

energy starts to
decrease, the
inductor energy starts
to increase.
 Inductor energy starts
to decrease before
capacitor energy
decays to 0.
45
ODEs of step response

I0
+
Vs V0


di  1 t 
 By KVL: Ri  L  V0   i (t )dt   Vs .
dt  C 0 
 The homogeneous and inhomogeneous ODEs
of i(t) and vC (t) are:
d 2i R di i d 2vC R dvC vC Vs
2
   0, and 2
   .
dt L dt LC dt L dt LC LC
46
The two initial conditions (ICs)

I0
+
Vs vC (t) V0


 The capacitor voltage cannot change abruptly,

 vC (0 )  V0 (1)
 The inductor current cannot change abruptly,
 iL (0 )  I 0  iC (0 ),
dvC I0

 iC (0 )  C ,  vC (0 )  ( 2)


dt t 0 C
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General solution

 The solution is the sum of final voltage Vf = Vs

and the nature response vC,nature(t):
vC (t )  V f  vC ,nature (t ),
where the three types of nature responses were
elucidated in Section 8.4.

V f  A1e s1t  A2e s2t , if   0 ,


vC (t )  V f  e t B1 cos d t  B2 sin d t , if   0 ,

 f
V  e t
D1t  D2 , if   0 .
48
Key points

 What do the response curves of over-, under-,

and critically-damped circuits look like? How to
choose R, L, C values to achieve fast switching
or to prevent overshooting damage?

 What are the initial conditions in an RLC circuit?

How to use them to determine the expansion
coefficients of the complete solution?

 Comparisons between: (1) natural & step

responses, (2) parallel, series, or general RLC.
49