NATIONAL TECHNOLOGY OF MEXICO

TECHNOLOGICAL INSTITUTE OF OAXACA

DEPARTMENT OF ELECTRICAL ENGINEERING.

ELECTRICAL ENGINEERING
CONTROL II

STUDENT:
MUNGUIA PINACHO ISAI SALATIEL

TEACHER:
ING. NOE PEREZ ARREORTUA

HOMEWORK TO SUBMIT:
SECOND ORDER PLANT – FILTER SALLEN-KEY

UNIDAD 2
 Sallen–Key

The Sallen–Key configuration, also known as a voltage control voltage source

(VCVS), was first introduced in 1955 by R.P. Sallen and E.L. Key of MIT's Lincoln
Labs (see Reference 14). It is one of the most widely used filter topologies and is
shown in Figure 1. One reason for this popularity is that this configuration shows
the least dependence of filter performance on the performance of the op amp. This
is due to the fact that the op amp is configured as an amplifier, as opposed to
an integrator, which minimizes the gain-bandwidth requirements of the op amp.
This infers that for a given op amp, you will be able to design a higher frequency
filter than with other topologies since the op amp gain-bandwidth product will not
limit the performance of the filter as it would if it were configured as an integrator.

In this occasion, the filter is proposed as a second order plant. For that, you must
to:

1. Obtain the transfer function of the circuit of figure 1

2. Select the value of the components (resistors and capacitors) to get
ωn=10000 and ζ=0.25
3. Identify the components with which it is possible to vary the value of ζ and
determine the range of values such 0<ζ<1
4. Use Xcos, simulate the circuit and get the step response
5. Select the proper op amp to implement this circuit
6. Use QucsStudio to simulate the proposed circuit and obtain the step
response
7. Use KiCAD to design the PCB
 8. Build the PCB the and circuit using the selected components
9. Test the circuit in the laboratory.

ACTIVITY REPORT
1. Obtain the transfer function of the circuit of figure 1

Our analysis is going to be based on Kirchhoff's current law in which we are going
to do an analysis in this node whose voltage is Va and we are going to analyze the
currents:

Since we are interested in obtaining a transfer function in terms of the input Va and
the output Vo and not in currents, we can do the following analysis.

i1 ( t )=i2 ( t )+ i3 ( t )

Vi (t ) +i3 ( t )
i1 ( t )=
R1

Va ( t )−Vp ( t )
i2=
R2

d
i3 ( t )=C 2
dt
[ Va (t )−Vo ( t ) ]
 R3
Vn ( t )=Vp ( t )= Vo(t)
R 3+ R 4

To simplify the notation, we will use:

1 R3
= Vo (t)
K R 3+ R 4

So the above equation is:

1
Vn ( t )=Vp ( t )= Vo( t)
K

Finally, to compact the notation a bit we are going to indicate the derivative of time
with the point V̇ and we stop indicating the dependence of time (t).

We continue with the analysis of nodes and establish a new correlation, where the
current i2 is equal to C2 and its derivatives.

Va (t )−Vp ( t )
=C 1 V̇ p ( t )
R2

˙ ( t ) +Vp ( t )
Va ( t )=R 2C 1 Vp

˙ ¨ ˙
Va=R 2 C 1 Vp (t ) + Vp(t )

1
Simplifying with, Vn ( t )=Vp ( t )= Vo ( t ) (1)
K

we obtain to:

R2C1 1
Va= V̇ o ( t )+ Vo ( t ) (2)
K K

R2C1 1
V̇ a ( t )= V̈ o+ V̇ o ( t ) (3)
K K

Knowing these relations, we are going to return to our three currents that we had
established as Kirchhoff's current law, and simplify the equation:

i 1=i 2+ i3
 Vi−Va
i 1 ( t )=
R1

Va−Vp
i 2 ( t )=
R2

i 3=C 2 ( V̇ a−V̇ o)

Vi−Va Va−Vp
= +C 2 ( V̇ a−V̇ o )
R1 R2

Vi Va Va Vp
− = − +C 2 V̇ a−C2 V̇ o
R1 R1 R2 R2

To find the transfer function I only need the terms of the input and output, for that
we apply the aforementioned equations to simplify Vp y Va, applying 1 2 and 3 we
get:

Vi R2 C1 1 R2 C 1 1 1 R2 C 1 C 2 C2
− V̇ o− Vo= V̇ o+ Vo− Vo+ V̈ o + V̇ o−C2 V̇ o
R1 K R1 K R1 K R2 K R2 K R2 K K

Solve Vi from the equation and multiply the entire expression by R1 and obtain the
following

Vi R2 C1 1 1 R C C C R C 1
= V̇ o + Vo− Vo + 2 1 2 V̈ o+ 2 V̇ o−C 2 V̇ o+ 2 1 V̇ o+ Vo
R1 K R2 K R2 K R2 K K K R1 K R1

R2C1 1 1 R2C 1C2 C2 R2 C 1 1

Vi=R1 ( V̇ o+ Vo− Vo+ V̈ o+ V̇ o−C 2 V̇ o+ V̇ o + Vo)
K R2 K R2 K R2 K K K R1 K R1

R2C1 R C C C R C 1
Vi=R1 ( V̇ o+ 2 1 2 V̈ o+ 2 V̇ o−C 2 V̇ o+ 2 1 V̇ o + Vo)
K R2 K K K R1 K R1
 R 1 R2 C 1 R1 R 2 C 1 C 2 R1 C 2 R1 R 2 C 1 R1 1
Vi= V̇ o+ V̈ o+ V̇ o−C2 V̇ o+ V̇ o+ Vo
K R2 K K K R1 K R1

R1 C 1 R 1 R2 C 1 C 2 R1 C 2 K R 1 C 2 R2 C 1 1
Vi= V̇ o+ V̈ o+ V̇ o− + V̇ o+ Vo
K K K K K K

We rearrange the equation algebraically and obtain:

R 1 R2 C 1 C 2 R C R C R C K R1 C 2 1
Vi= V̈ o+ 1 1 V̇ o+ 2 1 V̇ o + 1 2 V̇ o− V̇ o+ Vo
K K K K K K

We regroup all the functions that depend on Vo and express them as a single
equation:

R 1 R2 C 1 C 2 R1 C1 + R2 C1 + R1 C2−K R1 C2 1
Vi= V̈ o+ V̇ o + Vo
K K K

We continue simplifying the equation until we get:

R 1 R2 C 1 C 2 R1 C1 + R2 C1 + R1 C2 (1−K ) 1
Vi= V̈ o+ V̇ o + Vo
K K K

For the next step we apply the Laplace transform to obtain our equation in terms of
s:

R 1 R2 C1 C 2 R 1 C 1+ R 2 C 1+ R 1 C 2 ( 1−K ) 1
L ( t )=V i t = V̈ o (t)+ V̇ o(t)+ Vo (t)
K K K

Solving:

2
s R1 R 2 C 1 C 2 s R1 C 1+ R2 C 1+ R 1 C 2 ( 1−K ) 1
L ( t )=V i t = Vo(t )+ Vo(t )+ Vo (t)
K K K

Now we have our equation in terms of s, grouping:

 s R 1 R2 C1 C 2 [ s R 1 C 1+ R 2 C 1+ R 1 C 2 ( 1−K ) ]+1
2

V i t= Vo(t )
K

Passing Vo dividing and taking the reciprocal of both sides we are left with Vo
between Vi and we are going to notice it with the transfer function:

V ot K
=H ( s )= 2
V it s ( R ¿ ¿ 1 R ¿ ¿ 2C 1 C 2)+ s [ R1 C1 + R2 C1 + R1 C2 ( 1−K ) ] +1 ¿ ¿

To obtain a second order transfer function we do the following:

Vo K / R 1 R2 C1 C2
=
Vi 2
s +s
[ 1
+
1
+
( 1− K )
R1 C1 R 1 C 1 R 1 C 2
+
] 1
R1 R 2 C 1 C 2

Let R1=R2=R

And C1=C2=C

Vo K / R2 C 2
=
Vi
s 2+ s [1
+
RC RC
1 ( 1−K )
+
RC
1
+ 2 2
R C ]
Vo K /R 2 C 2
=
Vi
[
s 2+ s
RC ]
( 3−K ) 1
+ 2 2
R C

1
a 0=
R C22

( 3−K )
a 1=
RC
Vo K a0
= 2
Vi s + s a 1+ a0

For 2nd order:

Vo K
= 2
Vi s +1.4142 s +1

ω c =1

2. Select the value of the components (resistors and capacitors) to get

ωn= 10000 and ζ=0.25

1 1
ωc= f c=
√ R 1 R 2 C 1 C 2 2 π √ R 1 R2 C 1 C 2
Vo K
=
Vi s 2+1.4142 s +1

Set Filter Components as Ratios

Letting R1=mR, R2=R, C1=C, and C2=nC, results in: fc 1 2RC mn and Q mn m 1
mn (1 K). This simplifies things somewhat, but there is interaction between fc and
Q. Design should start by setting the gain and Q based on m, n, and K, and then
selecting C and calculating R to set fc. Notice that K 1 m 1 mn results in Q = ∞.
With larger values, Q becomes negative, that is, the poles move into the right half
of the s-plane and the circuit oscillates. Most filters require low Q values so this
should rarely be a design issue.

Set Filter Components as Ratios and Gain = 1

Letting R1=mR, R2=R, C1=C, C2=nC, and K=1 results in: fc 1 2RC mn and Q mn
m1. This keeps gain = 1 in the pass band, but again there is interaction between fc
and Q. Design should start by choosing the ratios m and n to set Q, and then
selecting C and calculating R to set fc.

Set Resistors as Ratios and Capacitors Equal

Letting R1=mR, R2=R, and C1=C2=C, results in: fc 1 2RC m and Q m 1 2m mK.
The reason for setting the capacitors equal is the limited selection of values in
comparison with resistors. There is interaction between setting fc and Q. Design
should start with choosing m and K to set the gain and Q of the circuit, and then
choosing C and calculating R to set fc.

Set Filter Components Equal Letting

R1=R2=R, and C1=C2=C, results in: fc 1 2RC and Q 1 3 K. Now fc and Q are
independent of one another, and design is greatly simplified although limited. The
gain of the circuit now determines Q. RC sets fc—the capacitor chosen and the
resistor calculated. One minor drawback is that since the gain controls the Q of the
circuit, further gain or attenuation may be necessary to achieve the desired signal
gain in the pass band. Values of K very close to 3 results in high Qs that are
sensitive to variations in the values of R3 and R4. For instance, setting K=2.9
results in a nominal Q of 10. Worst case analysis with 1% resistors results in Q=16.
Whereas, setting K=2 for a Q of 1, worst case analysis with 1% resistors results in
Q=1.02. Resistor values where K=3 leads to Q=∞, and with larger values, Q
becomes negative, the poles move into the right half of the s-plane, and the circuit
oscillates. The most frequently designed filters require low Q values and this
should rarely be a design issue.

Nonideal Effect of Amplifier Output Impedance and Transfer Function

Zo is the closed-loop output impedance. It depends on the loop transmission and

the open-loop output impedance, zo: Zo 1 a(f)b, where a(f)b is the loop
transmission. The feedback factor, b, is constant—set by resistors R3 and R4—but
the open loop gain, a(f), is dependent on frequency. With dominant pole
compensation, the open-loop gain of the amplifier decreases by 20 dB/dec over the
usable frequencies of operation. Assuming zo is mainly resistive (usually a valid
assumption up to 100 MHz), Zo increases at a rate of 20 dB/dec. The transfer
function appears to be a first order high-pass. At frequencies above 100 MHz (or
so) the parasitic inductance in the output starts playing a role and the transfer
function transitions to a second order high-pass. Because of stray capacitance in
the circuit, at higher frequency the high-pass transfer function will also roll of.

Simulation and Lab Data

A Sallen-Key low-pass filter using the Texas Instruments THS3001 shows the
effects described above. The THS3001 is a high-speed current-feedback amplifier
with an advertised bandwidth of 420 MHz No particular type of filter (i.e.,
Butterworth, Chebyshev, Elliptic, etc.) was designed. Choosing Z1=Z2=1kΩ,
Z3=Z4=1nF, R3=open, and R4=1kΩ results in a low-pass filter with fc=159 kHz,
and Q=1