BEE 201 Circuits and Signals

s-domain circuits and analysis

INSTRUCTOR:
Dr Muhamad Kamal Amin
EE/SETI KLIUC

July 14, 2023 BEE 201 Circuits and Signals 1

 APPLICATION OF THE LAPLACE TRANSFORM
TO CIRCUIT ANALYSIS
LEARNING GOALS

Laplace circuit solutions

Showing the usefulness of the Laplace transform

Circuit Element Models

Transforming circuits into the Laplace domain

Analysis Techniques
All standard analysis techniques, KVL, KCL, node,
loop analysis, Thevenin’s theorem are applicable

Transfer Function
The concept is revisited and given a formal meaning

Pole-Zero Plots/Bode Plots

Establishing the connection between them

Steady State Response

July 14, 2023 AC analysis
BEErevisited
201 Circuits and Signals 2
 Circuit Terminology
Name Definition
Node A point where two ore more branches meet

Essential node A node where three or more branches combine

A trace of the adjacent circuit elements, where no element is
Path
included more than once.
A path that connects two nodes, and contains a single
Branch
element such as voltage source or resistor
Essential Path that connects two nodes without passing through an
Branch essential node.
Loop A closed path in a circuit

Mesh A loop that does not contain any other loops.

July 14, 2023 BEE 201 Circuits and Signals 3

 The Node Analysis
• The node analysis uses the voltages at the nodes as circuit
variables.
• Example 3.1
• Determine the voltage v1 and v2 using node analysis.

1 1 2 2
+ +
10 V v1 v2 2A
5 10 
- -

July 14, 2023 BEE 201 Circuits and Signals 4

 • Solution
• The circuit shown in Figure 3.3 contains 3 essential nodes (ne = 3);
so we need (ne­-1) node-voltage equations to describe the circuit.
• The steps in node analysis are as follows:
• A reference node is chosen. Normally, the node with the largest
number of branches will be chosen as the reference node. In Figure
3.3, the node at the bottom of the circuit (indicated by ▼) contained
the largest number of branches, so it was chosen as the reference
node. The rest of the nodes in the circuit are called non-reference
nodes.
• Using Ohm’s law, we formulate the node voltage equation for each
node. For this circuit, we define the node voltages as v1 and v2. The
node voltage is defined as the voltage increase from the reference
node to the nonreference node.

July 14, 2023 BEE 201 Circuits and Signals 5

 • According to Kirchoff’s Current Law, the total current leaving each branch is
equal to zero. Therefore the node voltage equation at node 1 is:
v 1  10 v 1 v 1  v 2
  0
1 5 2
• And at node 2:

v 2  v1 v 2
 2 0
2 10

• Solve the simultaneous equations to obtain the unknown node voltages, in this
case v1 and v2. The simultaneous equations which describe the circuit above in terms of v 1
and v2. By solving them, we obtain:

• v1 = 9.09 V
v2 = 10.91 V

July 14, 2023 BEE 201 Circuits and Signals 6

 Mesh Analysis
• Figure 3.11 illustrates the example of using mesh current with
the exist of dependent sources. This circuit contains six
branches where the current is unknown and four nodes.
Therefore three mesh current is required to describe the circuit
(6 – (4 – 1) = 3). These currents are shown in Figure 3.12.
1

5 4

50 V +
i 20  15 i
-

July 14, 2023 BEE 201 Circuits and Signals 7

•The current equations are:
• 50 = 5(i1 – i2) + 20(i1 – i3) (3.18)
• 0 = 5(i2 – i1) + 1i2 + 4(i2 – i3) (3.19)
• 0 = 20(i3 - i1) + 4(i3 – i2) - 15iΦ (3.20)

•If the current that controls the independent 1

source is expressed in terms of mesh current,
• iΦ = i1 – i3 (3.21) i2
5 4
•By substituting equation (3.21) into
equation (3.20) and rearranging the +
variables, 50 V i1 i 20  i3 15 i
• 50 = 25i1 - 5i2 - 20i3 -
(3.22)
• 0 = -5i1 + 10i2 - 4i3 (3.23)
• 0 = -35i1 - 4i2 + 9i3 (3.24)

•Solving the simultaneous equations,

• i1 = -0.57 A, i2 = -1.43A and i3 = -2.86 A.

July 14, 2023 BEE 201 Circuits and Signals 8

 LAPLACE CIRCUIT SOLUTIONS
We compare a conventional approach to solve differential equations with a
technique using the Laplace transform
Comple “Take Laplace transform” of the equation
mentary
di
v S (t )  Ri (t )  L (t )
dt
VS ( s )  RI ( s )  LL  
 di  L
di i  iC  i p  dt  Initial conditions
KVL : v S (t )  Ri (t )  L (t ) P  di  are automatically
dt L    sI ( s )  i (0)  sI ( s ) included
a  dt 
Complement ary equation r 1 1
diC t   RI ( s )  LsI ( s ) I ( s ) 
RiC (t )  L (t )  0  iC (t )  K C e t i s s ( R  Ls)
dt
R c I ( s)  1/ L K1 K2 Only algebra
t
RK C e  LK C (e )  0    t  
L
u s ( R / L  s ) s s  R / L is needed
l 1
Particular solution for this case K1  sI ( s ) |s 0 
a No need to
i p (t )  K p  v S  1  RK p r R
search for
1
 t Use boundary conditions K 2  ( s  R / L) I ( s ) | s   R / L  
R particular
1 R
i (t )   K C e L
v S (t)  0 for t  0  i( 0 )  0 or comple-
R R mentary
R 1   t
1   t
 i (t )  1  e ; t  0
L
solutions
Julyi14,
(t ) 2023
 1 e L ;t 0 R
BEE 201 Circuits and Signals  9
R    

 LEARNING BY DOING Find v (t ), t  0 In the Laplace domain the differential
equation is now an algebraic equation
v  vS
R 1
RCsV ( s )  V ( s ) 
dv s
C 1 1 / RC
vS dt V ( s)  
s ( RCs  1) s ( s  1 / RC )

Use partial fractions to determine inverse

Model using KCL dv v  v S 1 / RC K K2
C  0 V ( s)   1
dt R s ( s  1 / RC ) s s  1 / RC
dv
RC  v  vS K1  sV ( s ) |s 0  1
dt
K 2  ( s  1 / RC )V ( s ) |s  1 / RC  1
 dv 
RCL    V ( s )  VS ( s )
L
t
 dt  v (t )  1  e

RC , t 0
 dv 
L    sV ( s )  v (0)  sV ( s )
 dt 
v S (t )  0, t  0  v (0)  0 Initial condition
given in implicit
form
1
v S  u( t )  V S ( s ) 
July 14, 2023 s BEE 201 Circuits and Signals 10
 Transformed Circuit
i-v relationship for this elements
voltage source v(t )  vS (t )
i (t )  depends on circuit
current source i (t )  iS (t )
v(t )  depends on circuit
Laplace transform of this expression
voltage source V ( s )  VS ( s )
I ( s ) depends on circuit
current source I ( s )  I S ( s )
V ( s ) depends on circuit S-domain models of independent source

July 14, 2023 BEE 201 Circuits and Signals 11

 CIRCUIT ELEMENT MODELS
The method used so far follows the steps:
1. Write the differential equation model
2. Use Laplace transform to convert the model to an algebraic form

For a more efficient approach:

1. Develop s-domain models for circuit elements
2. Draw the “Laplace equivalent circuit” keeping the interconnections and replacing
the elements by their s-domain models
3. Analyze the Laplace equivalent circuit. All usual circuit tools are applicable and all
equations are algebraic.

Resistor
Independent sources
v S ( t )  VS ( s )
i S (t )  I S ( s)
Dependent sources
v D (t )  AiC (t )  VD ( s )  AI C ( s )
i D (t )  BvC (t )  I D ( s )  BVC ( s ) v (t )  Ri (t )  V ( s )  RI ( s )
...

July 14, 2023 BEE 201 Circuits and Signals 12

 In circuits, initial conditions may not be zero. For example,
capacitors may be charged; inductors may have an initial current.
How should these be represented in the Laplace (frequency)
s-domain

Consider a capacitor C with an initial voltage v(0)

Rearrange this to give:

July 14, 2023 BEE 201 Circuits and Signals 13

 Similarly, consider an inductor L with an initial current i(0)

Now take Laplace transform on both sides:

Rearrange this to give:

July 14, 2023 BEE 201 Circuits and Signals 14

 Two terminal passive circuit elements
Time-domain i-v relation

resistor : vR (t )  RiR (t )
diL (t )
inductor vL (t )  L
dt
1 t
conductor vC (t )   iC ( )d  vC (0)
C 0

S-domain transform

resistor VR ( s )  RI R ( s )
inductor VL ( s )  LsI L ( s )  LiL (0)
1 v (0)
capacitor VC ( s )  I C ( s)  C
Cs s S-domain models of passive elements
using voltage sources for initial condition
July 14, 2023 BEE 201 Circuits and Signals 15
 Impedance and
Admittance
For zero initial condition

resistor VR ( s )  RI R ( s ) resistor VR ( s )  ( R ) I R ( s )
inductor VL ( s )  LsI L ( s)  LiL (0) inductor VL ( s )  ( Ls ) I L ( s )
1 vC (0)
capacitor VC ( s) 
Cs
I C (s) 
s capacitor VC ( s )  1  Cs  I C (s)

In each case the element constraints are all of the form V (s)  Z (s) I (s)
The proportionality factor is called the element impedance Z(s)

resistor : Z R ( s )  R
inductor : Z L ( s )  Ls with iL (0)  0
capacitor : Z C ( s )  1 with vC (0)  0
Cs
July 14, 2023 BEE 201 Circuits and Signals 16
 IMPORTANT NOTE

•S-domain impedance is a generalization of the t-domain

concept of resistance
•The impedance of a resistor is its resistance R
•The impedance of the inductor and capacitor depend on
the inductance L and
capacitance C and the complex frequency variable s.
•Since a voltage transform has units of V-s and current transform
has units of A-s, it follows
•IMPENDANCE has units of ohms since V-s/A-s =V/A=Ω ohm

July 14, 2023 BEE 201 Circuits and Signals 17

 ALTERNATIVE S-DOMAIN MODELS
Element currents in terms of the voltage

1
resistor I R (s )  VR (s )
R
1 iL (0)
inductor I L ( s )  VL (s ) 
Ls s
capacitor I C ( s )  CsVC (s )  CvC (0)

S-domain models of passive elements

using current sources for initial conditions
July 14, 2023 BEE 201 Circuits and Signals 18
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July 14, 2023 BEE 201 Circuits and Signals 21
 Capacitor: Model 1 Source transformation t  I ( s)
L   i ( x )dx  
0  s
v (0)
I eq  s  Cv (0)
1
Cs

1t
v (t )   i ( x )dx  v (0) V ( s )  1 I ( s )  v (0)
C0 Cs s
Impedance in series
with voltage source
Capacitor: Model 2

I ( s )  CsV ( s )  Cv (0)

Impedance in parallel
with current source

July 14, 2023 BEE 201 Circuits and Signals 22

Inductor Models

V ( s ) i (0)
di I ( s)  
v (t )  L ( t )  V ( s )  L( sI ( s )  i (0)) Ls s
dt

 di 
L    sI ( s )  i (0)
 dt 

July 14, 2023 BEE 201 Circuits and Signals 23

LEARNING EXAMPLE Find vo (t ) using node analysis, loop analysis, superposition,
source transformation, Thevenin' s and Norton' s theorem.
Assume all initial conditions are zero
V1 ( s )
KCL @ V1 1
2
12 s
V1 ( s ) 
4 s  V1 ( s )  Vo ( s )  0  s
 
s s 1
s
KCL@Vo Could have
Vo ( s ) Vo ( s )  V1 ( s ) used voltage
  02 divider here
Node Analysis 2 1
s
4 s  12
(1  s 2 )V1 ( s )  s 2Vo ( s )   2s
s
 2 sV1 ( s )  (1  2 s )Vo ( s )  0  (1  s 2 )

8( s  3)
Vo ( s ) 
(1  s ) 2

July 14, 2023 BEE 201 Circuits and Signals 24

Loop Analysis Loop 1
4
I1 ( s ) 
s
Loop 2
1 12
s ( I 2 ( s )  I1 ( s ))  I 2 ( s )  2 I 2 ( s ) 
s s
4( s  3)
I 2 ( s) 
( s  1) 2

8( s  3)
Vo ( s )  2 I 2 ( s ) 
( s  1) 2

July 14, 2023 BEE 201 Circuits and Signals 25

Source Superposition Applying current source

I 2'

Current divider
s 4
Vo' ( s )  2  
1
2 2 s
s
Applying voltage source

Voltage divider
2 12
' "
Vo ( s )  V o ( s )  V o ( s ) 
8( s  3) Vo" ( s )  
1
( s  1) 2
2  s s
July 14, 2023 BEE 201 Circuits and Signals s 26
Source Transformation Combine the sources and use current
divider

s  4 12 
Vo ( s)  2    2
1
s   2 s s 
s

8( s  3)
Vo ( s ) 
( s  1) 2

The resistance is redundant

July 14, 2023 BEE 201 Circuits and Signals 27
Using Thevenin’s Theorem
Reduce this part

1 s2  1
ZTh  s
s s

Voltage
divider

2 4 s  12
Vo ( s ) 
12 4 4 s  12 s2  1 s
VOC ( s )  s  2
s s s s
8( s  3)
Vo ( s ) 
Only independent sources ( s  1) 2
July 14, 2023 BEE 201 Circuits and Signals 28
Using Norton’s Theorem
Reduce this part

ZTh  s

Current
division

s 4 s  12
Vo ( s )  2 
1 s 2
s 2
s
4 12 / s 4 s  12 8( s  3)
I SC ( s )    Vo ( s ) 
s s s2 ( s  1) 2

July 14, 2023 BEE 201 Circuits and Signals 29

 EXAMPLE 1
The switch in figure (a) has been in position 1 for a long time and is moved to position 2 at
t=0. For t >0 transform the circuit into the s-domain and use Laplace transform to
solve for the voltage vC (t )

SOLUTION

July 14, 2023 BEE 201 Circuits and Signals 30

For t >0 the transformed circuit takes the form as figure (b)
where a parallel current source CvC (0) to account for the initial condition

Applying KCL to the current transform at node A produces

 I1 ( s )  I 2 ( s )  CvC (0)  0

For t <0 the switch in figure (a) is in position 1 and the circuit is in a dc steady-state
condition. As a result we have vC (0)  VA

In s-domain circuit figure (b) the two branch current transform can be written in terms
of the capacitor voltage and element impedance as
VC ( s )
resistor I1 ( s ) 
R
V ( s)
capacitor I 2 ( s )  C  CsVC ( s )
1
Cs
July 14, 2023 BEE 201 Circuits and Signals 31
Substituting these observations into the KCL equation and solving for VC ( s )

CVA VA
VC ( s )  
1 1
Cs  s
R RC

Performing the inverse Laplace we get

vC (t )  VAe RC 
 t
 

July 14, 2023 BEE 201 Circuits and Signals 32

 EXAMPLE 2

Inverse transform:

July 14, 2023 BEE 201 Circuits and Signals 33

 EXAMPLE 3
The switch in the circuit here is in closed position for a long time before t=0, when
it is opened instantaneously. Find the current y1(t) and y2(t) for t>0.

July 14, 2023 BEE 201 Circuits and Signals 34

 • Obtain the simultaneous equation

 R1  Ls  Ls 
I ( s )
   1  V ( s ) 
1    
 Ls Ls  R2    I 2 ( s )  0 
 Cs 
July 14, 2023 BEE 201 Circuits and Signals 35
• How to solve I1(s) and I2(s)?

CRAMER’S RULE

 R1  Ls  Ls 
I ( s )
   1  V ( s ) 
1    
 Ls Ls  R2    I 2 ( s )  0 
 Cs 

July 14, 2023 BEE 201 Circuits and Signals 36

 • How to solve I1(s) and I2(s)?
CRAMER’S RULE
• For example

R1  Ls V ( s )
 Ls 0
I 2 (s) 
R1  Ls  Ls
1
 Ls Ls  R2 
Cs

July 14, 2023 BEE 201 Circuits and Signals 37

 Cramer’s rule

July 14, 2023 BEE 201 Circuits and Signals 38

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 COMING BACK to EXAMPLE

bbbbbbbbbb
bbbbbbbbb

July 14, 2023 BEE 201 Circuits and Signals 43

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July 14, 2023 BEE 201 Circuits and Signals 47
 EXAMPLE 2

Transform the circuit of figure a into the s-domain and solve

for vC (t ) vS (t )  VAe  t vC (0)  V0
the voltage if and

July 14, 2023 BEE 201 Circuits and Signals 48

 KVL : VS ( s )  VR ( s )  VC ( s )  0
source : VS ( s )  VAe  t
resistor : VR ( s )  RI S ( s )
1 vC (0)
capacitor : V ( s )  I C (s) 
Cs s

Substituting source, resistor and capacitor observation in KVL

1 V0
VC ( s)  VS ( s )  RI S ( s )  I C ( s ) 
Cs s
VA 1 V0
VC ( s)    RI S ( s )  I C ( s ) 
s  Cs s

July 14, 2023 BEE 201 Circuits and Signals 49

 HOMEWORK No submission is necessary
But important for your test/exam

1. Find ZEQ(s) in Figure 1. Express ZEQ(s) as a rational function and locate its
poles and zeros.

1 2L
R 2L
2

ZEQ
Figure 1

July 14, 2023 BEE 201 Circuits and Signals 50

2. Transform the circuit in Figure 2 into the s domain and find: IL(s), iL(t),
VL(s), and vL(t) when v1(t) = VA u(t) and iL(0) = IA.

R iL(t)

v1(t) R L vL(t)

Figure 2

July 14, 2023 BEE 201 Circuits and Signals 51

3 There is no initial energy stored in the circuit in Figure 3.Use circuit reduction
to find the output network function V2(s)/V1(s).

1
Cs R

1
V1 (s) R V2 (s)
Cs

Figure 3

July 14, 2023 BEE 201 Circuits and Signals 52

4. The switch in Figure 4 has been in position A for a long time and is moved to
position B at t = 0. Transform the circuit into the s domain and solve for IL(s)
and iL(t) in symbolic form.

A t=0
iL(t)
B L
R
VA

Figure 4

July 14, 2023 BEE 201 Circuits and Signals 53

5. The switch in Figure 5 has been in position A for a long time and is moved to
position B at t = 0.
(a) Transform the circuit into the s domain and solve for IL(s) in symbolic form.
(b) Find iL(t) for R1 = R2 = 500 Ω, R3 = 1 kΩ, L = 250 mH, C = 4 μF, and
VA = 15 V.

R1 A
R2 L
iL(t)
B t=0

VA C vC(t)
R3

Figure 5

July 14, 2023 BEE 201 Circuits and Signals 54