Chapter 2: First Order

Circuit
Part 2: DC Transient Response of RL
Circuit

1
Instructional Objectives
1. To investigate the time response of the series R-L circuit to a
step excitation.
2. To investigate the natural response of the series R-L circuit.

2
Learning Outcomes

After completing this topic you should be able:

1. Formulate the first-order differential equation that relates the

circuit current to the step excitation.

2. Solve the first-order differential equation for the circuit current

for times t > 0.

3. Find time expressions for the voltage drop across the resistance
and the voltage drop across the inductance for times t > 0.

4. Formulate the first-order differential equation that relates the

circuit current in the natural response of the circuit.

5. Find the natural response of the series R-L circuit.

3
Outline:
 Step Response of the Series R-L Circuit
 Finding an expression for the inductor
voltage vL.
 Finding an expression for the resistor
voltage vR
 Natural Response of Source-Free
Series R-L Circuit
 Step Response of the series R-L-C
Circuit
4
Step Response of the Series R-L Circuit
The response of a series R-L circuit to a step input voltage can be
investigated using the circuit arrangement shown in Figure 20. Assume
that the inductor is initially unenergised and switch S is closed at time
t = 0.
A R
t=0
B

E L

Figure 20

The switched voltage E applied to the series R-L circuit can be represented
as a step voltage source of amplitude E.

5
The circuit formed after switch S has been closed is shown in Figure 21.
R

E.u(t) L

Figure 21

Let i be the circuit current, vL the instantaneous voltage drop across the
inductor L, and vR the instantaneous voltage drop across the resistor R;
with their reference directions assigned according to the passive sign
convention, as shown in Figure 22(a). The circuit in Figure 21 after
labelling is shown in Figure 22(b).

6
 i i

vR R vL L

(a)

i R

vR

E.u(t) vL L

(b)

Figure 22
7
Applying KVL to the circuit in Figure 22(b), we obtain the equation

 E  vR  vL  0 (36)

where
vR  iR (37)

and
di
vL  L (38)
dt
Substituting (37) and (38) in (36), we obtain the equation

di
 E  iR  L 0 (39)
dt

8
We can rewrite (39) as

di R E
 i (40)
dt L L

To eliminate the constant term on the R.H.S of (40), we differentiate

the whole equation w.r.t. t. Thus, we obtain

d  di R  d  E 
  i    (41)
dt  dt L  dt  L 

Carrying out the differentiation in (41), we obtain

d 2i R di
2
 0 (42)
dt L dt

9
Let i  Ae be the trial solution, where both A and S are constants
sT

that have yet to be identified. Differentiating the trial solution once

w.r.t. to t, we obtain
d
dt

i 
d
dt
 
Ae st  sAe st (43)

Differentiating the trial solution twice w.r.t. to time, we obtain

d  di  d 2i d
  2 
dt  dt  dt dt
 
sAe st  s 2 Ae st (44)

Thus, upon substitution of (43) and (44) into (42), we obtain the
equation
2 R
L
st

s Ae  sAe St  0  (45)

10
  R
By factoring terms, (45) then becomes sAe s    0
st

 L
 R
Thus, either s = 0, Aest = 0, or s    0 .
 L

Since Aest = 0 is not a permissible solution, then this means either,

 R
s  0 or s    0
 L
R
Thus, s has possible two values; namely s1 = 0, and s2   .
This mean we can write the solution for (42) as L
R
 t
i  Ae s1t  Bes2t  A  Be L
(46)

where A and B are constants that have yet to be identified.

11
 The unknown constants, A and B, can be found by considering the initial
circuit conditions.
Firstly, we note that at time t = 0+, the inductor acts as open circuit
(L=0), preventing the flow of current I (i=0). Hence, at t = 0+, (46)
becomes

 
i 0   0  A  Be  Rt / L  A  B (47)
, Secondly, we note that at steady-state (time t = ∞), the inductor acts
as a short circuit, preventing the existence of a voltage drop across it.
Hence, at t = ∞ (46) becomes

i 
E
 A  Be  A (48)
R
Putting A = E/R into (47), we obtain

E
B  A   (49)
R
12
Therefore, (46) becomes

it    e
E E  Rt / L
R R
or
E  t
R
i t   1  e L  (50)
R 
We can rewrite (50) as

 
t

i t   I o 1  e  
 (51)
 
where
E L
Io  and  
R R

13
A plot of the inductor current i as a function of time is shown in Figure 23.

i
Inductor acts as a short circuit here
( at steady-state)

Io
Inductor acts as an
open circuit here

0 t
5

Figure 23

14
Finding an expression for the inductor voltage vL.
To find an expression for the inductor voltage vL, we recall the
fundamental i-v relationship between inductor current and inductor
voltage of the form

di
vL  L (52)
dt
Putting (51) into (52) we obtain

  1 t /   
vL  L
d
 
I0 1 e 
t / 
 LI 0 0    e 
dt    

 E  R 
 vL  L  e t /  Eet / (53)
 R  L 

15
A plot of the inductor voltage vL is shown in Figure 24.

VL
Inductor acts as open circuit at t = 0

Inductor acts as short

circuit

0 t
5

Figure 24

16
Finding an expression for the resistor voltage vR

Voltage across resistor R is related to current i by Ohm’s law. Thus,

  
vR  iR  RI0 1  et /  E 1  et /  (54)

A plot of the resistor voltage vR is shown in Figure 25.

VR

0 5

Figure 25

17
Example 3

Assume that the inductor was unenergised before the switch was closed.
In the circuit of Figure 26, switch S is closed at t = 0. Obtain a plot for
i. i(t)
ii. vL(t)
iii. vR(t

A 40 
t=0
B
VR
10 V 1H VL

Figure 26

18
Solution
We note that the reference directions given in the question are the
same as those used in the analysis. Thus, we can use the results
obtained earlier without any modification.

(i) An expression for the energising current i is given by (50).

  t
   
R
i t   I 0 1  e L  
10
1  e  40t  0.25 1  e  40t A (55)
  40

A plot of Eq.(55) is shown in Figure 27

i (A)

0.25
Figure 27

0 t (s) 19
0.125
(ii) An expression for the voltage drop vL(t) is given by (53).

R
 t
vL  Ee L
 10e 40t V (56)

A plot of Eq.(56) is shown in Figure 28

vL

10 V

0 t
0.125 s

Figure 28
20
(iii) An expression for the voltage drop vR(t) is given by (54).

(57)

A plot of Eq.(57) is shown in Figure 29.

Figure 29

21
Natural Response of Source-Free Series R-L Circuit

Consider the series R-L circuit shown in Figure 30(a). Let switch S be
changed from position B to position C after current i(t) has achieved
steady state condition. S R i(t)
B
C

E L

Figure 30 (a).

The circuit formed after closing of the switch is shown in Figure 30b. In the
circuit shown in Figure 30b, there is no external voltage or current source
present and hence the circuit is called a source-free series R-L circuit.
R i(t)

Figure 30 (b)
22
We use the same voltage and current reference directions as that used
for the step-excited R-L circuit so that we can compare the response of
the source-free circuit with it.
i R

vR

vL L

Figure 31

Applying KVl to the circuit given in Figure 31, we obtain the equation

vR  vL  0
and (58)
where vR  iR, . vL  L
di
dt

23
Therefore, equation (57) can be rewritten as

di
iR  L 0 (58)
dt

Let the trial solution be i  Ae st , where A and s are constants that have
yet to be identified. Substituting the trial solution into equation (58)
leads us the expression

RAe st  L
d
dt
 
Ae st  0

or
RAe st  sLAe st  0

After factoring terms, we obtain

Ae st R  sL   0 (59)
24
The solution Aest = 0 implies that no current flows through the circuit. To
be practically useful, we require a non-zero current i to flow in the circuit.
This requirement dictates that the solution

Ae st  0
is not permissible. So, we are left with the solution

R  sL  0
Thus,
R
s (60)
L
Therefore, the general solution for this circuit becomes
R
 t
it   Ae L (61)

25
To find an expression for the constant A, we note that at t = 0+, the
inductor behaves as a short circuit. Hence, the current at t = 0+ is

 
i 0 
E
R
So, at t = 0+, Eq.(61), reduces to the form

 
i 0   Ae 0  A
Hence,

 

i 0  A
E
R
giving
E
A (62)
R
26
Thus, Eq.(61) becomes
t
E  RL t R
 t 
it   e  I 0e  I 0e 
L (63)
R
where
E R
I0  and 
R L
A plot of Eq.(63) is shown in Figure 32.
i

I0

0 t
5

Figure 32 27
To find an expression for the voltage drop vL across the inductor we note
that
di
vL  L (64)
dt

Substituting Eq.(63) into (64), we obtain

vL  L
d
dt
  L
I 0 e t /    I 0 e t / 


 vL   Eet / (65)

A plot of Eq.(65) is shown in Figure 33.

28
 vL

Inductor being energised

t
0 5

Inductor being de-energised

-E

Figure 33

29
An expression for the voltage drop vR can be obtained by using Ohm’ law.
Thus,


vR  iR  R I 0e t /  (66)

Using E = RIo, we can write

 t /
vR  Ee (67)

A plot of Eq.(65) is shown in Figure 34.

vR

E
Figure 34

0 t
5 30
Example 4
Switch S in Figure 35 is changed from position B to C at t = 0 after the
current has achieved steady state condition. Obtain a plot of
i. i(t)
ii. vL(t)
iii. vR(t

40 
S

B
C VR
1H VL

Figure 35

31
Solution
i. An expression for the circuit current is given by (63).

E  RL t 10 40t
it   e  e  0.25e 40t (68)
R 40
A plot of Eq.(68) is shown in Figure 36.

0.25 A

0 t
5

Figure 36

32
ii. An expression for the inductor voltage vL is given by (65).

vL   Eet /  10e 40t (69)

A plot of Eq.(69) is shown in Figure 37.

vL

t
0 5

Inductor being de-energised

-10 V

Figure 37

33
iii. An expression for the resistor voltage vR is given by (67).

vR  Eet /  10e 40t (70)

A plot of Eq.(70) is shown in Figure 38.

vR

10 V

t
0 0.025 s

Figure 38

34
Step Response of the series R-L-C Circuit
The response of a series R-L-C circuit to a step input voltage can be
investigated using the circuit arrangement shown in Figure 39a. To
simulate the application of a step input voltage to the circuit, we close
the switch S at time t = 0. The circuit formed upon closing of switch S
is shown in Figure 39b.
S R L
t=0

E C

Figure 39
S R L

E.u(t) C VC

35
Figure 40b shows the circuit after labelling the circuit current and the
voltage drops according to the passive sign convention

i i i

C vC R vR L vL

R L

VR VL
VS = V C VC

Figure 40
Since the independent source E is driving the circuit, then the behaviour
of current i, voltage drops vR, vL, and vC give the forced response of the
circuit. 36
Applying KVL to the circuit leads us to the equation

 E  vR  vL  vC  0 (71)

where, following the passive sign convention,

vR  iR

di
vL  L
dt
and t t
vC   i   d  vc (0)   i   d
1 1
C  C0

37
Plugging the elements’ constraint equations into Equation (71) leads
us to the following equation.
t
 E  iR  L   i   d    0
di 1
(72)
dt C 0
To get rid of the integral sign in (72), we differentiate it once w.r.t. t.
Thus,
d  
t

 E  iR  L
di 1
  i   d  0
dt  dt C 0 
or di d 2i i
0 R  L 2   0 (73)
dt dt C
E.(73) can be rewritten as

d 2i R di i
2
  0 (74)
dt L dt LC 38
Let the trial solution of Equation (74) be current i of the form

i  Ae st
Hence, plugging the trial solution into (74) gives us the equation

d2
dt 2
 
Ae 
st R d
L dt
 
Ae 
st Ae st
LC
0 (75)

which, upon carrying out the required differentiation operation,

gives us the equation
R Ae st
s Ae  sAe 
2 st st
0
L LC
Factoring terms, we get

 R 1  (76)
Ae st  s 2  s  0
 L LC 
39
Since Ae
st
0 is not a permissible solution, then we are left with the
condition
R 1
s2  s 0 (75)
L LC
The roots of s in Eq.(75) are
2
R R  1 
     4 
L L  LC 
s
2
Thus,
2
R  R  1 
s1       
2L  2 L   LC  (76)
and
2
R  R   1 
s2        (77)
2L   
2 L LC 
40
From these two roots, 3 types of current responses can be obtained,
depending on the value of s.

2
 R   1 
Case 1:     
 
2 L  LC 
Then,
R
s  s1  s2   (real root)
2L
and
R
 t
i  Ae st  Ae 2L

For this case, the current response is said to be critically damped.

41
 2
 R   1 
Case 2:    
 2L   LC 

For this case

2
R  R  1 
S1         1 where α1 is a real number
2L  2 L   LC 

2
R  R  1 
S2         2 where α2 is a real number
2L   
2 L LC 

and
i  Ae s1t  Bes2t

For this case, the current response is said to be overdamped.

42
 2
 R   1 
Case 3:    
 2L   LC 

Here
2
R  R   1 
s1         1  j s1 is an imaginary number
2L  2 L   LC 

2
R  R   1 
S2          2  j s2 is an imaginary number
2L   
2 L LC 

and

i  Ae s1t  Bes2t

For this case, current response is said to be underdamped.

43
Example 5

Given that the circuit shown in the Figure 41 has no any energy stored
in the capacitor or the inductor when switch S is closed at time t = 0.
Obtain vR, vL, and vC(t) for t  0.

S 280  0.1 H
t=0

VR VL

10 V 0.4 F VC

Figure 41

44
Solution

For the values of R, C, and L given then the roots of Eq.(75) are
2
R  R  1 
s1         1400  j 4800 rad/s
and 2L   
2 L LC 
2
R  R  1 
s2         1400  j 4800 rad/s
2L   
2 L LC 

From these values of roots, we note that the current response is that
of the underdamped case.

Thus,
i  Ae s1t  Bes2t
where A and B are constants that have yet to be determined.

45
We note that for t = 0+, current i(0+) = 0 since inductor L cannot change
its current instantaneously. Hence,

 
i 0   Ae 0  Be0  0
Thus,
A  B
and

 
i  A e s1t  e s2t  A[e1400 j 4800t  e1400 j 4800t ]

 Ae 1400t [e j 4800  e  j 4800]  Ae 1400t 2 j sin 4800 t 

46
Furthermore, from Figure 41 we note that at t = 0+ voltage vL(0+) = 10
V since current i(0+) = 0 and vC(0+) = 0. Thus, from

di
vL (t )  L
dt
we obtain
di
v L (0  )  L
dt t 0
or
10  0.1
d
dt

2 jAe 1400t sin 4800 t  
t 0


 0.1 j 2 A e 1400t cos4800 t   sin 4800 t  1400 e 1400t  t 0

 0.1 j 2 A  1  0  j 0.2 A
47
 50
Hence, A  and
j

i  50e 1400t sin 4800 t 

50
50

40

30

20

10

i( t)
0 5 10
4
0.001 0.0015 0.002 0.0025 0.003 0.0035 0.004 0.0045 0.005 Figure 42
10

20

30

40

 50 50

0 t 0.005

48
Having found an expression for the circuit current, we can find an
expression for the voltage drop across R by using Ohm’s law, following
which we obtain

vR (t )  Ri(t )  280  50e 1400t sin 4800t 

 14000 e 1400t sin 4800t 

di
vL (t )  L
dt

 0.1 50e 1400t sin 4800 t 
d
dt

 10e 1400t cos4800 t   1400 sin 4800 t 

49
Natural Response of Series RLC Circuit

R L
t=0
B
C VR VL
VS = V C VC

(a)
R L

VR VL

C VC

(b)

Figure 43
50
Assume that capacitor is fully charged before switch S is changed
from positions B to C at time t = 0. From this condition, KVL equation
can be written as

vR  vL  vC  0 (78)

where,
i i i
vR  iR C vC R vR L vL

di
vL  L
dt
t t
vC   i   d    vc (0)   i   d  
1 1
C  C0

51
Equation (60) can be expanded as
0 t
iR  L   i  d     i  d    0
di 1 1
(79)
dt C  C0

Differentiating Eq. (79) wrt to t, we obtain

d  
0 t

iR  L   i  d     i  d    0

di 1 1
dt  dt C  C0 

di d 2i i
R L 2  0 (80)
dt dt C

52
Eq.(80) has general solution of the form

i  Ae S1t
 Be S 2t
(81)

where S1 and S2 are,

2
R  R  1 
S1       
2L  2 L   LC 

2
R  R   1 
S2       
2L  2 L   LC 

53
Example 6

Obtain waveform shape, i(t), vR, vL and vC for t  0 when switch S is

changed from positions B to C at time t = 0. Assume capacitor is fully
charged before switch S is moved.

100  0.1 H
t=0
B
C VR VL
VS = 48 V 0.4 F 48 V

Figure 44

54
Solution

The current i(t) flowing in the circuit for t ≥ 0 has the general solution
of the form given by Eq.(80). The roots of the equation are:

2
R  R  1 
S1         500  j 4975 rad / s
2L   
2 L LC 
and
2
R  R  1 
S1         500  j 4975 rad / s
2L  2 L   LC 

 it   Ae 500 j 4975t

 Be 500 j 4975t

55
To find A and B we note that at t = 0+

 
i 0   Ae 0  Be0  0
Therefore,

A  B
Next, using the fact that

vC (0 )  48 V
and

v R (0 )  0
56
We then have

vL (0 )  vR (0 )  vC (0 )  i(0 ) R  vC (0 )

Therefore,  0  vC (0 )  vC (0 )

vL (0  )  48 V
From
di
vL  L
dt
we obtain

vL  L
di
dt
L
d
dt
 
Ae S1t  BeS2t  S1LAe S1t  S2 LAe S2t

At t = 0,
 
vL 0  48  S1LA  S 2 LA
57
Since
A  B
we then obtain

 48  S1 LA  S 2 LA   500  j 4975 0.1A   500  j 4975 0.1 A

giving
 48
A
 500  j 4975 0.1   500  j 4975 0.1
Thus,

 48 j 48
A   j 0.04824
j995 995
58
Finally, we obtain

B   A   j 0.04824

Hence, the current is given by the expression

 it   j 0.04824 e 500 j 4975t  j 0.04824 e 500 j 4975t

A plot of i(t) is shown below.

i(t)

0 t (s) Figure 45
5 5

59