SCCE

Chapter 5

First-Order and Second-Order

Circuits

1
 Course Outcome

• Ability to IDENTIFY and FORMULATE the first and

second order circuits containing passive elements,
DC sources and switches using differential equations.

2
 Outline
 First Order Circuits
 Natural response of RL and RC Circuit
 Force response of RL and RC Circuit
 Solution of natural response and force response in RL
and RC Circuit

 Second Order Circuits

 Natural and force response in series RLC Circuit
 Natural and force response in parallel RLC Circuit

3
RC and RL Circuit Introduction
• Representing the Voltage around a
𝑑𝑣 circuit or The Current through a
𝑖 𝑡 𝐶 circuit results in a differential
𝑑𝑡
equation of the FIRST ORDER

𝑑𝑣 𝑉
𝐶 0
𝑑𝑡 𝑅

𝑑𝑖
𝐿 𝑖𝑅 0
𝑑𝑡
𝑑𝑖
𝑣 𝑡 𝐿
𝑑𝑡

These are known as “ First Order Circuit”

4
Natural response of RC circuit
A first-order circuit is characterized by a first-order differential
equation.
By KCL
v dv
iR  iC  0 C 0
R dt

Ohms law Capacitor law

 Apply Kirchhoff’s laws to purely resistive circuit results in algebraic

equations.
 Apply the laws to RC and RL circuits produces differential equations.
5
Natural response of RC circuit
Since capacitor is initially charged, we can assume that at time
t=0, the initial voltage is
𝑣 0 𝑉
𝑑𝑣 1
Energy stored at t=0 𝑑𝑡
𝑣 𝑅𝐶
1
𝑤 0 𝐶𝑉 𝑡
2 ln 𝑣 ln 𝐴
𝑅𝐶
Using KCL: 𝑣 𝑡
𝑖 𝑖 0 ln
𝐴 𝑅𝐶
𝑑𝑣 𝑉
𝐶 0 Taking powers of e:
𝑑𝑡 𝑅
𝑑𝑣 𝑉 𝑣 𝑡 𝐴𝑒
0
𝑑𝑡 𝑅𝐶
Initial condition 𝑣 0 𝐴 𝑉
𝑑𝑣 1
𝑑𝑡
𝑣 𝑅𝐶 𝑣 𝑡 𝑉 𝑒
6
• The natural response of a circuit refers to the behavior (in terms of
voltages and currents) of the circuit itself, with no external sources of
excitation. note: 𝑅𝐶 
• Type equation here. 

Time constant RC Decays faster Decays more slowly

• The time constant  of a circuit is the time required for the response
to decay by a factor of 1/e or 36.8% of its initial value.
• v decays faster for small  and slower for large . Type equation
here.
Natural response of RC circuit
DC source
disconnected
The key to working with a source-free RC circuit is finding:

v(t )  V0 e  t /  where RC

1.The initial voltage v(0) = V0 across the capacitor.

2.The time constant  = RC.

8
Example
Refer to the circuit below, determine vC, vx, and io for t ≥ 0.
Assume that vC(0) = 30 V.

9
 Solution

vC(0) = 30 V.

vC = 30e–0.25t V

vx = 10e–0.25t

io = –1.25e–0.25t A

Answer: vC = 30e–0.25t V ; vx = 10e–0.25t ; io = –2.5e–0.25t A

10
Example
The switch in circuit below is opened at t = 0, find v(t) for t ≥ 0.

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 Solution
1/6 F

V(t) = 8e–2t V

Answer: V(t) = 8e–2t V

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Exercise

• For t >0, in the RC circuit, v(t)=56 e -200t (V) and i(t)=8 e -200t (mA)
(a) Find values of R and C
(b) Compute time constant, 
(c) Calculate time for voltage decay half of initial value.

13
Exercise

 Determine time constant.

14
Exercise

• For t >0, calculate v(t) in the RC circuit,

15
Natural response of RL circuit
• A first-order RL circuit consists of a inductor L (or its equivalent)
and a resistor (or its equivalent)

By KVL vL  vR  0

di
L  iR  0
dt

Inductors law Ohms law

di R Rt / L
  dt i (t )  I 0 e
i L
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 A general form representing a RL
t / 
i (t )  I 0 e
L
where 
R

• The time constant  of a circuit is the time required for the response
to decay by a factor of 1/e or 36.8% of its initial value.
• i(t) decays faster for small t and slower for large t.
• The general form is very similar to a RC source-free circuit. 17
Comparison between a RL and RC circuit

A RL source-free circuit A RC source-free circuit

L
i (t )  I 0 e  t /  where  v(t )  V0 e t / where   RC
R

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Comparison between a RL and RC circuit

A RL source-free circuit A RC source-free circuit

L
i (t )  I 0 e  t /  where  v(t )  V0 e t / where   RC
R

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Natural response of RL circuit

The key to working with a source-free RL circuit is

finding:

t / L
i(t )  I 0 e where 
R

The initial voltage, i(0) = I0 through the inductor.

The time constant,  = L/R.

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Example
Find i and vx in the circuit.
Assume that i(0) = 5 A.

Answer: i(t) = 5e–53t A

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 3
Solution
find rth 1
5

? ?
Example

For the circuit, find i(t) for t > 0.

• Please refer to lecture or textbook for more detail elaboration.

Answer: i(t) = 2e–2t A

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 t=0,
SC

i(0) = current division ??

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Unit-Step Function (1)

• The unit step function u(t) is 0 for negative values of t and 1

for positive values of t.

 0, t0
u(t )  
1, t0

 0, t  to
u (t  to )  
1, t  to

 0, t   to
u (t  to )  
1, t   to
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 Unit-Step Function (2)

Represent an abrupt change for:

1. voltage source.

2. for current source:

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Force response of RC Circuit
• The step response of a circuit is its behavior when the excitation
is the step function, which may be a voltage or a current source.

• Initial condition:
v(0-) = v(0+) = V0

• Applying KCL,
dv v  Vs u (t )
c  0
dt R
or
dv v  Vs
 u (t )
dt RC
• Where u(t) is the unit-step function 27
Three steps to find out the step response of an RC
circuit:
1. The initial capacitor voltage v(0).
2. The final capacitor voltage v(∞) — DC voltage
across C.
3. The time constant .

t /
v (t)  v ()  [v (0)  v ()]e

Note: The above method is a short-cut method. You may also

determine the solution by setting up the circuit formula directly using
KCL, KVL , ohms law, capacitor and inductor VI laws. 28
Example

Find v(t) for t > 0 in the circuit in below. Assume the switch has
been open for a long time and is closed at t = 0.
Calculate v(t) at t = 0.5.

• Please refer to lecture or textbook for more detail elaboration.

2 t
Answer:v ( t )  15e 5 and v(0.5) = 0.5182V 29
Solution

• 1 -The initial capacitor voltage v(0).

• 2- final capacitor voltage v()

• Use KCL at nod to get v(∞)

• 3- time constant .
• Use Rth,  =RC

30
Exercise
• Calculate the capacitor voltage for t < 0 and t > 0
• (a)

• (b)

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Force response of RL Circuit
• The step response of a circuit is its behavior when the excitation
is the step function, which may be a voltage or a current source.

• Initial current
i(0-) = i(0+) = Io

• Final inductor current

i(∞) = Vs/R

• Time constant  = L/R

t
Vs Vs  
i (t )   ( I o  )e u (t )
R R
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 Force response of RL Circuit(2)

Three steps to find out the step response of an RL circuit:

1. The initial inductor current i(0) at t = 0+.

2. The final inductor current i().
3. The time constant .

 t /
i (t )  i ( )  [i (0 )  i ( )] e
Note: The above method is a short-cut method. You may also determine the solution by
setting up the circuit formula directly using KCL, KVL , ohms law, capacitor and inductor
VI laws.
33
Force response of RL Circuit(3)
Example 6
The switch in the circuit shown below has been closed for a long
time. It opens at t = 0.
Find i(t) for t > 0.

• Please refer to lecture or textbook for more detail elaboration.

Answer: i (t )  2  e 10 t
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Example 6 (solution)
Apply source
transformation

30V

i ( 0)  3 A

30
2A

i (t )  2  e 10 t
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Exercise
• Calculate the inductor current for t < 0 and t > 0
• (a)

• (b)

36
Solution of natural and force response in
RL and RC Circuit
• Integrating both sides and considering the initial conditions, the
solution of the equation is:

V0 t0
v(t )   t / 
 s
V  (V0  V s ) e t 0

Final value Initial value Source-free

at t -> ∞ at t = 0 Response

Complete Response = Natural response + Forced Response

(stored energy) (independent source)
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= V0e–t/τ + Vs(1–e–t/τ)
Second Order RLC circuits (1)

What is a 2nd order circuit?

 A second-order circuit is characterized by a second-order differential

equation. It consists of resistors and the equivalent of two energy
storage elements.

RLC Series RLC Parallel RL T-config RC Pi-config

38
Source-Free Series RLC Circuits (1)

• The solution of the source-free series

RLC circuit is called as the natural
response of the circuit.

• The circuit is excited by the energy initially

stored in the capacitor and inductor.

The 2nd order of d 2i R di i

expression 2
  0
dt L dt LC

 How to derive and how to solve?

39
Source-Free Series RLC Circuits (2)

• At t=0,

• So,

• Eliminate integral, differentiate to t, rearrange 

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 Source-Free Series RLC Circuits (3)

2nd order differential equation:

d 2 i R di i
2
  0
dt L dt LC
d 2i di 1
=>
2
 2   0i 0
2
where 
R
and 0 
dt dt 2L LC
General 2nd order Form

 The types of solutions for i(t) depend on the relative values of a and w.
41
 Source-Free Series RLC Circuits (4)
There are three possible solutions for the following 2nd order
differential equation:

d 2i di
2
 2   0i 0
2

dt dt

1. If  > o, over-damped case

i (t )  A1e s1t  A2 e s2t where s1, 2       0
2 2

2. If  = o, critical damped case

i (t )  ( A2  A1t )e t where s1, 2   
3. If  < o, under-damped case

i (t )  e t ( B1 cos  d t  B 2 sin  d t ) where  d   02   2

42
Source-Free Series RLC Circuits (5)

Example 1
If R = 10 Ω, L = 5 H, and C = 2 mF,
find α, ω0, s1 and s2.

What type of natural response will

the circuit have?

• Please refer to lecture or textbook for more detail elaboration.

Answer: underdamped
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Source-Free Series RLC Circuits (6)

Example 2
The circuit shown below has reached
steady state at t = 0-.

If the make-before-break switch moves

to position b at t = 0, calculate i(t) for t
> 0.

• Please refer to lecture or textbook for more detail elaboration.

Answer: i(t) = e–2.5t[5cos1.6583t – 7.538sin1.6583t] A
44
t>0

under-damped case
46
Source-Free Parallel RLC Circuits
0
1
Let i (0)  I 0   v(t )dt
L
v(0) = V0
Apply KCL to the top node:

t
v 1 dv
  vdt  C  0
R L  dt

Taking the derivative with respect to t

and dividing by C

The 2nd order of d 2 v 1 dv 1

expression 2
  v0
dt RC dt LC
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 Source-Free Parallel RLC Circuits (2)
There are three possible solutions for the following 2nd order
differential equation:

d 2v dv 1 1
2
 2  02 v  0 where   and 0 
dt dt 2 RC LC

1. If  > o, over-damped case

v(t )  A1 e s1t  A2 e s2t where s1, 2      2  0 2

2. If  = o, critical damped case

v(t )  ( A2  A1t ) e t where s1, 2   
3. If  < o, under-damped case

v ( t )  e   t ( B 1 cos  d t  B 2 sin  d t ) where d   02   2

48
Source-Free Parallel RLC Circuits (3)

Example 3
Refer to the circuit shown below. Find v(t) for t > 0.

• Please refer to lecture or textbook for more detail elaboration.

Answer: v(t) = 66.67(e–10t – e–2.5t) V
49
50
: v(t) = 66.67(e–10t – e–2.5t) V

51
Step-Response Series RLC Circuits (1)

• The step response is

obtained by the sudden
application of a dc source.

The 2nd order of d 2 v R dv v vs

expression 2
  
dt L dt LC LC
The above equation has the same form as the equation for
source-free series RLC circuit.
• The same coefficients (important in determining the frequency
parameters).
• Different circuit variable in the equation. 52
Step-Response Series RLC Circuits (2)

The solution of the equation should have two components:

the transient response vt(t) & the steady-state response vss(t):
v ( t )  v t ( t )  v ss ( t )
 The transient response vt is the same as that for source-free case
vt (t )  A1e s1t  A2 e s2t (over-damped)
vt (t )  ( A1  A2t )e t (critically damped)
vt (t )  e t ( A1 cos  d t  A2 sin  d t ) (under-damped)

 The steady-state response is the final value of v(t).

 vss(t) = v(∞)
 The values of A1 and A2 are obtained from the initial conditions:
 v(0) and dv(0)/dt. 53
Example
Having been in position for a long time, the switch in the circuit
below is moved to position b at t = 0. Find v(t) and vR(t) for t > 0.

• Please refer to lecture or textbook for more detail elaboration.

Answer: v(t) = {10 + [(–2cos3.464t – 1.1547sin3.464t)e–2t]} V
vR(t)= [2.31sin3.464t]e–2t V 54
55
56
Step-Response Parallel RLC Circuits

• The step response is obtained

by the sudden application of a
dc source.

The 2nd order of

d 2i 1 di i Is
expression 2
  
dt RC dt LC LC

It has the same form as the equation for source-free parallel RLC
circuit.
• The same coefficients (important in determining the frequency
parameters).
• Different circuit variable in the equation. 57
• The solution of the equation should have two components:
• the transient response vt(t) & the steady-state response vss(t):
• The transient response it is the same as that for source-free
case i (t )  i (t )  i (t )
t ss

it (t )  A1e s1t  A2 e s2t (over-damped)

it (t )  ( A1  A2t )e t (critical damped)

• The steady-state response is the final value of i(t).

it (t )  e  t ( A1 cos  d t  A2 sin  d t ) (under-damped)
iss(t) = i(∞) = Is

• The values of A1 and A2 are obtained from the initial conditions:

i(0) and di(0)/dt.
58
Example
Find i(t) and v(t) for t > 0 in the circuit shown in circuit shown below:

Please refer to lecture or textbook for more detail elaboration.

Answer: v(t) = Ldi/dt = 5x20sint = 100sint V
59
v(t) = Ldi/dt = 5x20sint = 100sint V

60