Chapter1 - Transient Analysis in Time Domain

VIETNAM GENERAL CONFEDERATION OF LABOUR
TON DUC THANG UNIVERSITY
CHAPTER I
TRANSIENT ANALYSIS IN TIME

DOMAIN
28/02/2016 401062- Transient analysis in time domain 1

COURSE OBJECTIVES
 Understand how an inductor behaves in the

presence of constant current, and the requirement
that the current be continuous in an inductor.
 Understand how a capacitor behaves in the

presence of constant voltage, and the requirement

COURSE OBJECTIVES
 Be able to determine the natural and forced

response of both first order and second order circuits.
Know how to analyze circuits in the transient state

and steady state in time domain

CHAPTER CONTENTS
1.1. Transient analysis in time domain using the
classical method.
1.1.1.Concept:
Steady-state and appearance of the transient state
in electrical circuit
First order circuits and second order circuits
1.1.2.Transient analysis using classical method:
The forced response of circuits

The general solution for natural responses,
characteristic equation
CHAPTER CONTENTS
 Independent and dependent initial conditions.

 Transient analysis for the first order circuit
 Transient analysis for the second order circuit
1.2. Transient analysis using the Laplace

transform techniques:
 Laplace transform of some simple time functions
 Circuit analysis with the Laplace transform.

THE RELATIONSHIP BETWEEN U AND
I ON ELEMENTS R,L,C
1. Resistor:
The equation U relate to I showing through Ohm’s Law :
u = R.i
2. Inductor: di (t )
The voltage cross the inductor:
u (t )  L
dt
The change of current in an inductor brings about the induced
voltage of magnitude
1 t
The current flow through the inductor: i (t )   u (t )dt  i (t0 )
Lt
0
THE RELATIONSHIP BETWEEN U
AND I ON ELEMENTS
3. Capacitor :
The current flow through capacitor, change of voltage
brings about inﬁnite current.
dq du (t )
i (t )  C
dt dt
Voltage
1 t
u (t )   i (t ) dt  u (t0 )
Ct
0

TRANSIENT ANALYSIS USING THE
CLASSICAL METHOD.

1.1.TRANSIENT ANALYSIS USING
THE CLASSICAL METHOD.
1.1.1.Concepts
Steady-state
An electrical system is said to be a steady-state
circuit when the variables describing its behavior
(voltages, currents, etc.) are either invariant with
time (d.c circuits) or are periodic functions of time
(a.c circuits).
We applied some methods to analyze the circuits

in steady-state. Especially, we used the complex
number method to analyze the a.c circuits.

1.1.1.Concepts
Appearance of the transient state in electrical circuit
 The transient phenomenan will occur when there is any

switching, interrupting, short-circuiting as well as any
sudden changes in the structure of an electric circuit.
There is a redistribution of energy between L -s and C-
s, and a change in the energy status of the sources.
 These energy redistributions cannot take place

instantaneously but it remains during some period of
time of the transient-state.

1.1.1.Concepts
Hence we can say that the transient-state is the

transmission state from one steady-state to another
steady-state. The variables are changed non-periodically

1.1.1.Concepts
 Transient analysis is as important as steady-

state analysis. When the transients occurs, the
currents and voltages in some parts of the
circuit may exceed many times those that exist
in normal behavior and may destroy equipment
in its proper operation.

1.1.1.Concepts
Appearance of the transient state in electrical
circuit
 The transients in power systems are
characterized as completely ‘‘undesirable’’ and
should be avoided; and when they do occur, in
some very critical situations, they may result in
the electrical failure of large power systems and
outages of big areas

1.1.1.Concepts
First order circuits and second order circuits
 Any circuit with a single energy storage element,

an arbitrary number of sources, and an arbitrary
number of resistors is a circuit of order 1.
+ – One
Example capacitor
R + and one
+ vc(t) resistor in
vs(t)
– C series
–

1.1. TRANSIENT ANALYSIS USING
1.1.1.Concepts
First order circuits and second order circuits
 Any circuit with a single capacitor, a single inductor,

an arbitrary number of sources, and an arbitrary
number of resistors is a circuit of order 2
Example
One
R capacitor
vs(t) + and one
C
– inductor in
L series

The forced response of circuits

The general solution for natural responses, characteristic
equation
Why is this method called classical method ?

Circuit analysis using the classical method briefly based
on determining the differential equations relating to the
current and voltage of components in the circuits.

1.1 TRANSIENT ANALYSES USING
CLASSICAL METHOD
The general solution for forced response
Let consider the circuit R, L, C series

as the figure. Find i(t) through the circuit
when closing the switch k. Assume
that at t<0 the switch k has been opened

CLASSICAL METHOD
Apply Kirchhoff’s voltage Law:
vR  vL  vC  vt
Where:
vR  R.i
di
vL L di 1
dt vL L  Ri   idt v (t ) (1)
1 dt C
vC   idt
c
CLASSICAL METHOD
After deriving the expression for the current, we obtain a
second order diﬀerential equation as below
2
d i di 1 dv
L R  i (2)
2 dt C dt
d t
Voltages and currents in the circuit satisfy a differential
equation of the form:
n n1
d y (t ) d y (t ) dy (t )
an n  an1 n  1
   a1  a0 y (t )  f (t )
dt dt dt
f(t) is the forcing function (the independent sources driving the
circuit)
CLASSICAL METHOD
 The variable x(t) could be voltage or current.
 The coefficients an through a0 depend on the component

values of circuit elements.
 The function f(t) depends on the circuit elements and on

the sources in the circuit (the independent sources driving
the circuit).

CLASSICAL METHOD
 The total solution to any differential equation consists of two
parts:
x(t) = xp(t) + xc(t)
 Particular (forced) solution is xp(t)

Response particular to a given source
 Complementary (natural) solution is xc(t)

Response common to all sources, that is, due to the
“passive” circuit elements
CLASSICAL METHOD
Particular (forced) resonse is xp(t)
Response particular to a given source
 The forced (particular) solution is the solution to the non-
homogeneous equation:
 The particular solution usually has the form of a sum of

f(t) and its derivatives
 If f(t) is constant, then x(t) is constant
 If f(t) is sinusoidal, then x(t) is sinusoidal

 To find the forced solution we need to apply some
analysis method in steady - state
1.1 TRANSIENT ANALYSIS USING
CLASSICAL METHOD
Natural solution is xc(t)
 The natural (or complementary) solution is the solution to
the homogeneous equation:
d n x (t ) d n1x (t )
an n  an1  ...  a0 x (t )  0
dt dt n1
 Different “look” for 1st and 2nd order ODEs

CLASSICAL METHOD
Characteristic equation
To find the natural solution, we solve the characteristic
equation:
an p n  a p n1    a p  a  0 (6)
n1 1 0
which has two roots: s1 and s2 (if we’re lucky)
The complementary solution is

pt p t
xc (t )  K e 1 K e 2
1 2
1.1 TRANSIENT ANALYSES USING CLASSICAL
CLASSICAL
METHOD METHOD
We have three cases with roots p1, p2, ...,pn:
 The two roots of a second order equation are given as:
p1, p2, p3...
And the natural response in this case is
ytq (t )  C1e  C2e

p1t p2t
   Cn e pnt
 Complex conjugate, such as

In this case, the natural response converts
ytq (t )  C1e  t cos(  t   )  C3e p3t    Cn e pnt

C  2 C1 ; C1  C 2 ,  arg C1
CLASSICAL METHOD
 If the characteristic equation has k the multiple roots and
n-k the distinct roots. We have the general form of root
of the natural response:
ytq (t )  (C1  C2t  ....  Ck t k 1 )e p t  Ck 1e    Cne

1 pk 1t pn t

CLASSICAL METHOD
Independent and dependent initial conditions
 The particular and complementary solutions have

constants that cannot be determined without knowledge
of the initial conditions
 The initial conditions are the initial value of the solution

and the initial value of one or more of its derivatives
 Initial conditions are determined by initial capacitor

voltages, initial inductor currents, and initial source
values
CLASSICAL METHOD
Independent and dependent initial conditions
 At t=0 magnetic energy and electrical energy don’t

change instantly. Therefore we have
 At t=0 voltage across capacitor and current flows inductor

don’t change

CLASSICAL METHOD
Steps to analyze the transient circuits
 Determine the independent initial conditions
 Find the forced response of circuit basing on steady –
state analysis method
 Determine the characteristic equation and evaluation of
its roots.
 Solve the differential equation to find the natural response
 The desired response is the sum of the natural response
and the forced response.
 Determine the integration constants.

1.1 TRANSIENT ANALYSES
USING CLASSICAL METHOD
Transient analysis for the first order circuit
 RL circuits
K R
At t= 0 close K, find i(t)? Assume
that at t<0, k has been opened a
E i(t) L long time ago
Solution
+When the switch K is opened i=0
E
+ After closing switch K i 
R
CLASSICAL METHOD
 At the time close K
E  uR  uL
di
 Substituting u R = iR ;uL = L
dt
di Differential equation
iR  L  E
dt
To determine responses i(t) we need to solve the above differential equation

1.1 TRANSIENT ANALYSES
USING CLASSICAL METHOD
i(t) : consists of two parts
i(t) = itd + icb
Icb: (Depend on the sources of the circuit) The current of

circuit after switching k a long time
Itd: (Depend on the circuit parameters, and there isn’t

effect of power) is the root of the first order differential
equation.
di
iR  L  0 (1)
dt
CLASSICAL METHOD
The root of the first order differential equation: itd  Ke pt
 ditd d ( Ke pt )
   Kpe pt
 dt dt
 pt
(2)
 i dt  Ke pt dt  Ke
  td  p
RKe  LpKe  0
pt pt
 Ke pt ( R  pL )  0
Characteristic equation  ( R  pL )  0
CLASSICAL METHOD
Find K? Apply the initial conditions to find K
At the time t=0 close K. We have i = 0
R
 p
L E R
 t
 i (t )  ixl  itd   Ke L
R
Tìm K:
E E
K 0 K 
R R
E E  RL t E R
 t
i (t )  ixl  itd   e  (1  e L )
R R R
CLASSICAL METHOD
uc(t)
L E/R
Assume:  
R
Denote: time constant of circuit
Response i(t) 0 t
t  0, i (t )  0 t
E 
E  i (t )  (1  e ) 
t   , i (t )  R
R

CLASSICAL METHOD
 RC Circuits
K R
At t= 0, close K. Find uc(t)
E Uc(t) C
+Before closing K: Uc(t)= 0

+After closing K u  E

CLASSICAL METHOD
 Close k
u R  iR
E  u R  uc Substituting
duc
ic  C
dt
duc Differential equation

RC  uc  E
dt
To find response uc(t) we need to solve the differential equation above.

1.1 TRANSIENT ANALYSES USING CLASSICAL METHOD

i(t) consist of 2 components:
u(t) = utd + ucb
duC
uC  RC 0 (3)
dt

CLASSICAL METHOD
The roots of the first order differential equation : utd  Ke pt
 dutd d ( Ke pt )
   Kpe pt
 dt dt
 pt
(4)
 u dt  Ke pt dt  Ke
  td  p
Ke pt  RCpKe pt  0
 Ke pt (1  pRC )  0
Differential equation  (1  pRC )  0

CLASSICAL METHOD
Find K? Applying the initial conditions. At t=0 close K, uc = 0
1
 p
RC 
1
t
u (t )  u xl  utd  E  Ke RC
Tìm k
E  K  0  K  E
R R
 t  t
u (t )  u xl  utd  E  Ee L
 E (1  e L
)

CLASSICAL METHOD
i(t)
E
Assume   RC

This value of time is called the time constant0 t

Response UC(t)
t
t  0, u (t )  0 
 uc (t )  E (1  e ) 
t  , u (t )  E

CLASSICAL METHOD
Transient analysis for the second order circuit
 RLC Circuits K R L
At t= 0 close K. Let determine voltage C

E
across the capacitor
We have:
duC (t ) d 2uC (t )
Apply K2: E  RC  LC  uc (t ) (5)
dt dt
Then: uc (t )  uctd (t )  uccb (t )

CLASSICAL METHOD
Ke pt ( LCp 2  RCp  1)  0
 ( LCp 2  RCp  1)  0
R 1
p  2
p 0
L LC
R
Assumes:  Coefficient
2L
R
 Resonance frenquency
2L
We have the characteristic equation:

CLASSICAL METHOD
After resolving the above equation, if the characteristic
equation have 2 roots then we obtain the natural response
Uc(t) as following
utd (t )  k1e p1t

 k2e p2 t

EXERCISES
 Do examples 7.1-7.4; 8.1- 8.6
 Suggestion: Drill assessment Problems 7.1 – 7.5; 8.1-

8.6
Lect12
ASSIGNMENT
Assess your understanding of this material by doing homework

7.6 – 7.10
Students read the next lesson in the text books in advance to
more understand the next lesson.
Read the next slide of this chapter of this subject.

CIRCUIT ANALYSIS USING LAPLACE
TRANSFORM
28/02/2016
401062- Transient analysis in time domain 47
 This chapter will apply the Laplace transform to analyze the
transient circuit
 The equivalent models for the resistor, capacitor, and
inductor will be introduced.
 Setting up proper initial conditions will be covered.
 Transfer functions and state variables are also discussed.
 Finally circuit stability and network synthesis will be covered.
28/02/2016
1.1 Laplace transform
Laplace transform of some simple functions
Inverse laplace transform
1.2 Transient analysis using Laplace transform

Transform all elements of the circuit into s domain
Apply some circuit analysis methods to find the
necessary variables.
28/02/2016
We will now look at how to apply Laplace
transforms to circuit.
Transform the circuit from time domain to the s-domain.
Solve the circuit using nodal analysis, mesh analysis, source
transformation, superposition, or any circuit analysis technique
with which we are familiar.
Take the inverse transform of the solution and thus obtain the
solution in the time domain.
28/02/2016
1.2 LAPLACE TRANSFORM
Definition
The Laplace transform of a function is given by the expression

L(f (t))=  f (t)e-st dt
0
Where : the symbol is read “the Laplace transform of ” f(t).

The Laplace transform of is also denoted F(s)
28/02/2016
Table 3.1 Laplace Transforms for Various Time-Domain

Functions
f(t) F(s)
1 (Step) 1/s
t (Ramp) 1/s2
tn (n!)/s(n+1)
(exponential) e-at 1/(s+a)
(damped ramp) tne-at (n!)/(s+a)(n+1)
sinat a/(s2+a2)
(damped sine) e-t . Sinat a/((s+)2+a2)
cosat s/(s2+a2)
(damped cosine) e-t .cosat S+/((s+)2+a2)
28/02/2016
Inverse laplace transform
The purpose of this section is to present a straight-forward

and systematic technique for finding the inverse transform of
a rational function.
In general, we need to find the inverse transform of a

function that has the form
N ( s ) an s n  an 1s n 1  ...  a1s  a0

F (s)  
D( s ) bm s m  bm 1s m1  ...  b1s  b0
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N ( s ) an s n  an 1s n 1  ...  a1s  a0

F (s)  
D( s ) bm s m  bm 1s m 1  ...  b1s  b0
A proper rational function is expanded into a sum of partial

fractions by writing a term or a series of terms for each root.
Thus must be in factored form before we can make a partial

fraction expansion.
28/02/2016
For each distinct root of a single term appears in the sum of

partial fractions. For each multiple root of multiplicity r, the
expansion contains r terms.
For example, in the rational function
The denominator has four roots. Two of these roots are distinct—
namely at s =-3. s = 0, and A multiple root of multiplicity 2 occurs
at s =-1
28/02/2016
The key to the partial fraction technique for finding inverse

transforms lies in recognizing the corresponding to each term
in the sum of par-tial fractions. From Table 12.1 you should be
able to verify that f(t)
28/02/2016
LAPLACE TRANSFORM
 Find the initial conditions of the circuit in the negative steady-

state
 Transform Laplace of the sources of excitation and all the

elements in the circuit in the positive steady state
 Find the output U(S), I(S) in the Laplace freq domain using
the circuit analysis methods in steady – state
 Obtain the time response u(t), i(t) by taking the inverse

Laplace.
28/02/2016
LAPLACE TRANSFORM
Transforming laplace of circuit elements in the s domain
Sources in the s Domain.
i(t) I(s)
+
v (t) _ V (s )
+
_

LAPLACE TRANSFORM
A resistor in the s domain & ohm’s law

i(t) + v (t)-
In the time domain:
R
v (t)= i(t)R
I (s) + V (s )-
In the s-domain: R
V (s )= I (s )R
LAPLACE TRANSFORM
In the time domain: Inductor’s voltage:

LAPLACE TRANSFORM

In the time domain:
di
vL (t )  L
dt
In the s-domain:

VL ( s )  sLI L ( s )  LiL (0 )

LAPLACE TRANSFORM

Capacitor
In the time domain: In the s-domain:

LAPLACE TRANSFORM
In the time domain:

dv
ic (t )  C
dt
In the s-domain:

Vc (s)  1
sC 
I c (s)  1  s  v (0 ) c


LAPLACE TRANSFORM
Example
Find v0(t) if the initial voltage is given u(0-)=5 V

LAPLACE TRANSFORM
s-Domain Circuit

LAPLACE TRANSFORM
Apply nodal analysis method
V0  10 / s  1 V0 V0
   2  0.5
10 10 10 / s
V0 1 V0 sV0
     2.5
10 s  1 10 10
1 1
 Vo ( s  2)   2.5
10 s 1

LAPLACE TRANSFORM
Apply nodal analysis method

10
Vo ( s  2)   25
s 1
25s  35
V0 

( s  1)( s  2)
Rewrite V0(s) using PFE:

Solved for K1 and K2:
25s  35 K1 K2
Vo   
( s  1)( s  2) s  1 s  2
K1  10; K 2  15
LAPLACE TRANSFORM
Obtain v0(s) and v0(t)

 Calculate V 0(s):
 Obtain V 0(t) using look up table:
10 15
Vo ( s )  
s 1 s  2
vo (t )  (10e  t  15e 2t )u (t )

SUMMARY
 Inductors and capacitors are passive elements; they can store

and release energy, but they cannot generate or dissipate
energy
 The natural response is the currents and voltages that exist

when stored energy is released to a circuit that contains no
independent sources.

SUMMARY
 Inductors and capacitors are passive elements; they can store

and release energy, but they cannot generate or dissipate
energy
 The natural response is the currents and voltages that exist

when stored energy is released to a circuit that contains no
independent sources.

SUMMARY
 The step response is the currents and voltages that result from
abrupt changes in dc sources connected to a circuit. Stored
energy may or may not be present at the time the abrupt
changes take place.
 The solution for either the natural or step response of both RL

and RC circuits involves finding the initial and final value of the
current or voltage of interest and the time constant of the
circuit.

ASSIGNMENT
To assess your understanding of this material, students should

drill homework 12.27 – 12.31, 13.3-13.8
To make sure more understand the next lesson, students need
to read the contents of the next lesson in the text book in
advance
Read the slide chapter 2 of this subject.

Chapter1 - Transient Analysis in Time Domain

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VIETNAM GENERAL CONFEDERATION OF LABOUR

TON DUC THANG UNIVERSITY

TRANSIENT ANALYSIS IN TIME

28/02/2016 401062- Transient analysis in time domain 1

 Understand how an inductor behaves in the

 Understand how a capacitor behaves in the

28/02/2016 401062- Transient analysis in time domain 2

 Be able to determine the natural and forced

Know how to analyze circuits in the transient state

28/02/2016 401062- Transient analysis in time domain 3

1.1.2.Transient analysis using classical method:

The forced response of circuits

 Independent and dependent initial conditions.

1.2. Transient analysis using the Laplace

28/02/2016 401062- Transient analysis in time domain 5

28/02/2016 401062- Transient analysis in time domain 7

28/02/2016 401062- Transient analysis in time domain 8

We applied some methods to analyze the circuits

28/02/2016 401062- Transient analysis in time domain 9

 The transient phenomenan will occur when there is any

 These energy redistributions cannot take place

28/02/2016 401062- Transient analysis in time domain 10

Hence we can say that the transient-state is the

28/02/2016 401062- Transient analysis in time domain 11

 Transient analysis is as important as steady-

28/02/2016 401062- Transient analysis in time domain 12

28/02/2016 401062- Transient analysis in time domain 13

 Any circuit with a single energy storage element,

28/02/2016 401062- Transient analysis in time domain 14

 Any circuit with a single capacitor, a single inductor,

28/02/2016 401062- Transient analysis in time domain 15

The forced response of circuits

Why is this method called classical method ?

28/02/2016 401062- Transient analysis in time domain 16

Let consider the circuit R, L, C series

28/02/2016 401062- Transient analysis in time domain 17

The general solution for forced response

 The variable x(t) could be voltage or current.

 The coefficients an through a0 depend on the component

 The function f(t) depends on the circuit elements and on

28/02/2016 401062- Transient analysis in time domain 20

 Particular (forced) solution is xp(t)

 Complementary (natural) solution is xc(t)

 The particular solution usually has the form of a sum of

 If f(t) is sinusoidal, then x(t) is sinusoidal

 Different “look” for 1st and 2nd order ODEs

28/02/2016 401062- Transient analysis in time domain 23

which has two roots: s1 and s2 (if we’re lucky)

The complementary solution is

ytq (t )  C1e  C2e

 Complex conjugate, such as

ytq (t )  C1e  t cos(  t   )  C3e p3t    Cn e pnt

ytq (t )  (C1  C2t  ....  Ck t k 1 )e p t  Ck 1e    Cne

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 The particular and complementary solutions have

 The initial conditions are the initial value of the solution

 Initial conditions are determined by initial capacitor

 At t=0 magnetic energy and electrical energy don’t

 At t=0 voltage across capacitor and current flows inductor

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To determine responses i(t) we need to solve the above differential equation

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