2/18/2015

EE110, S15: Circuits and Systems, Lecture 6

Prof. Ping Hsu
- Forced/Natural/Transient/Steady-State
System Responses (U&Y 3-11; EE98)
- s-Domain Circuit Analysis
(U&Y 4-1, 4-2)
(Last revised 2/9/2015)

LTI System Response Partitions

2

A pole of X(s) represents a signal component of x(t). The value of the pole is
the frequency of this signal component. If this frequency is a real number, the
component is an exponential signal. If this frequency is complex in conjugate
pair, this pair of poles represents a sinusoidal signal with exponentially decaying
or growing (or constant, if the real part is 0) magnitude. The imaginary part of
this complex frequency is the frequency of the sinusoidal part of the signal and
the real part of the complex frequency is the rate of decaying and growing of
the magnitude. Consider the following example:
X ( s)

s 4 32 s 3 167 s 2 2390s 3870

20
10
1

s 3s 4 119 s 3 317 s 2 1900s 1700 s 2 2 s 17 s 2 100 s 2 1

5

p1,2 1 4 j,

p3,4 10 j and p5 1.

There are three components in x(t): a decaying sinusoidal (p1,2) , a pure

sinusoidal (p3,4), and an exponential decaying function (p5).

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LTI System Response Partitions

3

X (s)

s 4 32 s 3 167 s 2 2390 s 3870

20
10
1
2
2

5
4
3
2
s 3s 119 s 317 s 1900 s 1700 s 2 s 17 s 100 s 1

p1,2 1 4 j,

p3,4 10 j and p5 1.

x (t ) L 1 X ( s ) 5e 5 sin(4t ) sin(10t )
e t u (t )

x (t )
x3 (t )
x2 ( t )
1

x(t)

2
1

x1(t)
x3(t)
x2(t)

LTI System Response Partitions

4

A LTI (linear time invariant) system (a RLC circuit, for example) responds to
each component in the input signal x(t) and produces a corresponding
component output and introduces some additional component from the natural
behavior of the system. For example, if the signal X(s) on the previous slide,
i.e.,
4
3
2
X ( s)

s 32 s 167 s 2390s 3870

20
10
1

s 5 3s 4 119 s 3 317 s 2 1900 s 1700 s 2 2 s 17 s 2 100 s 1

1

is the input to the transfer function H ( s ) s 2, , the output

Y ( s) H ( s) X ( s)

1
X (s)
s2

will contain the following components (or poles). The extra component at -2 is
introduced by the system itself.
p6 2
and

Due to the system iteselft

(Natural response)

p1,2 1 4 j, p3,4 10 j , p5 1

Components due to the input

(Forced response)

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LTI System Response Partitions

5

Force Response: Output containing only the pole frequencies of the input.
Natural Response: Output containing only the pole frequencies of the system
itself (called modes of the system).
Zero State Response: Output due to only the input (with zero initial condition).
Zero Input Response: Output due to only initial condition (with zero input).
Transient Response: All output terms that eventually decay to zero.
Steady State Response: All output terms that remain after the transient response
decayed to nearly zero.
2013 National Technology and Science Press. All rights reserved.

Example :
R=1 and C=0.5 F,
Vi

vi (t ) 17 cos(8t ), and vC (0) 10.

(1/ RC ) 17 s
1

Vc ( s )
(10)

s (1/ RC ) s 2 64 s (1/ RC )

Total
due to the input
due to initial
Response
condition
1
1
s 32
(10)
2

64
2
2
s
s
s

Zero State
Zero input
Response
Response

Vo

12
8

Total

Zero Input

4
0
4
8
12
0

Zero State
1

Zero State Response: Output due to the input (with zero initial condition).
Zero Input Response: Output due to only initial condition (with no input).
6

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s 32
1
1
10

2
s
64
s
2
s
2

Zero State
Zero input
Response
Response
1
1
s 32
10
2

s 64
s2 s2

Forced
Natural
Response
Response

Vc ( s )

Natural Response

Forced Response

Force Response: The part of the output containing only the pole
frequencies of the input. For this example, the input
signal X(s) has poles at j8.
Natural Response: Output containing only the pole frequencies of the
circuit. For this example, pole=-2 which is part of
the system.
7

12
8
4
0
4
8
12
0

Transient period

Steady State Response

Transient Response: All terms that eventually decay to zero after a transient
period.
Steady State Response: All terms that remain after the transient response
decayed to nearly zero.
8

2/18/2015

Remarks:
Zero-input response (output due to only initial condition) is always part of
the Natural Response.
Zero-state responses contains poles of the system so it is NOT the entire
Forced Response.
Forced Response is the Steady State response if all natural responses
converge to zero (which is often the case).

Unbounded signal x(t)

10

If X(s) contains one or more poles on the right-half of the s-plane (complex
plane), x(t) is unbounded.
Recall that the real part of a pole determine its rate of exponential diverge (if
positive) or converge (if negative). A pole on the right-half of the s-plane has
a positive real part. The following two signals are unbounded.
9 s 30
( s 2 2 s 17)( s 2)
1 4 j, p3 2

X 1 ( s)
p1,2

p1,2

x1 (t ) 12e 12e cos(4t ) 16e cos(4t )

2t

9 s 30
( s 2 2 s 17)( s 2)
1 4 j, p3 2

X 2 ( s)

x2 (t ) 4e 2 t 4et cos(4t ) 22et sin(4t )

110

110

x1( t) 5104

x2( t)

2.5
t

110

2.5
t

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Unstable system
11

A system represented by a transfer function containing one or more poles on

the right-half of the s-plane (complex plane) is an unstable system.
Since the natural response of the system contains the poles of the transfer
function itself, such a systems output is unbounded even if the input is
bounded. In fact, the output can be unbounded due to just the initial
condition (i.e., with zero input).
Example: The following two systems are unstable.
H1 ( s )

9 s 30
( s 2 2 s 4)( s 2)

, H 2 ( s)

9 s 30
( s 2 2 s 4)( s 2)

Circuits with non-zero initial condition

12

For LTI circuits with zero initial conditions, H(s) (transfer function) can be found
from an s-domain circuit model in which each inductance L is replaced by its
impedance sL and each capacitance C is replaced by its impedance 1/(sC).
Circuit analysis techniques developed in EE98 are then applied to compute H(s)
=Y(s)/X(s).
Examples:
I(s)

X(s)

1
sC

Y(s)

H ( s)

Y ( s)
1/( sC )
1/( RC )

,
X ( s ) R 1/( sC ) s 1/( RC )

2/18/2015

Example:
For the circuit, R=1 and C=0.5 F,
vi (t ) 17 cos(8t ), and vC (0) 10.

Vi

Vo

Find vo (t ) for t 0.
KVL : iR vc vi (t )
dvc
C dt R vc vi (t )

Take the Laplace transform:

dvc

since i (t ) C dt

RC [ sVc ( s ) vc (0 )] Vc ( s ) Vi ( s )
Vc ( s )

1 dvc

since L dt sVc ( s ) vc (0 )

(1/ RC )
1
Vi ( s )
vc (0)
s (1/ RC )
s (1/ RC )

Transfer function

13

Note that: You cannot use voltage division formula in this case.

s-Domain Circuit Element Models Including

Non-Zero Initial Conditions: Capacitor Voltage
14

Capacitor

t-domain

s-domain
or

2013 National Technology and Science Press. All rights reserved.

2/18/2015

s-Domain Circuit Element Models Including

Non-Zero Initial Conditions: Inductor Current
15

Inductor

t-domain

s-domain

or

2013 National Technology and Science Press. All rights reserved.

Example:
R

R=1

1
Vi (t)=
17cos(8t)

sC
C=0.5F

Vo

Vi

I(s)
vc(0)
s

I (s)

Vo

Vi ( s ) vc (0) / s
R 1/( sC )

V ( s ) vc (0) / s 1 vc (0)
1 vc (0)

sC
s
s
R 1/( sC ) sC
V ( s)
vc (0)
v (0)
i

c
sRC 1 ( sRC 1) s
s
1/( RC )
1

Vi ( s )
vc (0)
s 1/( RC )
s 1/( RC )

Vo ( s ) I ( s )

16

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R=1

Vi (t)=
17cos(8t)
C=0.5F

Vo

Vi(s)

1
sC

Cvc(0)

Vo(s)

Or use super-position:
1/( sC )
R /( sC )
Vo ( s )
Vi ( s )

Cvc (0)
R 1/( sC )
R 1/( sC )
1/( RC )
1

Vi ( s )
vc (0)
s 1/( RC )
s 1/( RC )

17

If R=1, and C=0.5F, vi (t )=17cos(8t), and vc (0) 10,

Vo ( s )

1
where RC 2, vc (0) 10

17
s

where Vi ( s ) L 17 cos(8t ) 2

s 64

1/( RC )
1
Vi ( s )
vc (0)
s 1/( RC )
s 1/( RC )
2
1
Vi ( s )
10
s2
s2

2 17 s 10

s 2 s 64 s 2
s 32
1
10
2

s 64 s 2 s 2
s
4(8)
9
2
2

s 64 s 64 s 2

Take partial fraction expansion

4(8)
9
s
2 t
2

L1 2
cos(8t ) 4sin(8t ) 9e u(t )
s 64 s 64 s 2
18

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EXAMPLE:

The circuit is at steady state for t<0. Determine vo (t ), t 0

For t < 0 (Cap=open, inductor-=short)

Circuit for t > 0

vC (0 )

iL ( 0 )
1V

19

vC (0 ) 1V , iL (0) 1A
From Irwin & Nelms, 2011

Circuit for t > 0

KVL: solve the two equations below for I2

4
1
s
2
1
sI1 ( s 1 ) I 2 1
s
s
( s 1) I1 sI 2

I 2 ( s)

2
1
2s 1
Vo (s) I 2 (s)
s
s
2 s 2 3s 2

Vo (s)

2s 7
2s 2 3s 2

20
From Irwin & Nelms, 2011

10

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V1 ( s )
Alternative way of finding Vo(s):
(Use nodal equation)

V1 4 s V1 Vo V1 ( 1)

0
1
1
s
Vo V1 Vo 1 s

0
1
2s

Remove V1

2s 1V sV 3
2V 2 s V 1

Group terms

1
3

2 V1 Vo
s
s

1
s

V1 1 Vo
2
2

(2s+1)

-------------------------------------------------- 2 sVo (2 s 1) 2 s Vo 6 (2s+1)

Remove fration

Vo

2 s 1V1 sVo 3
2V1 2 s Vo 1

6 (2s+1)
(2 s 1) 2 s 2 s

Vo (s)

21

2s 7
2s 3s 2
2

From Irwin & Nelms, 2011

Now determine the inverse transform

Note that as 2 bs c 0 has complex conjugate roots if b 2 4ac 0

K1

Vo (s)
s

3
7
j
4
4

K 1*

3
7
j
4
4

3
7
Vo (s)
K1 s j
4
4

3
s j
4

2.14 76.5
7
4

K1
K1*

2 | K1 | e t cos( t K1 )u(t)
(s j ) (s j )

vo (t) 4.28 e

3
t
4

cos(

7
t 76.5)
4

22
From Irwin & Nelms, 2011

11

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Example: For the given vin(t), determine vout(t), t > 023

Circuit in the t-time domain

Circuit to determine the I.C.s: t = 0-

Input signal x(t) = vin(t)

Circuit in the s-domain: t > 0-

vC (0 ) 9 V, iL (0 ) 3 A
2013 National Technology and Science Press. All rights reserved.

Example: For the given vin(t), determine vout(t), t > 024

Eliminating I1 between the two equations:

Matlab: roots([42 162 306 300])

-2.0000
-0.9286 + 1.6460i
-0.9286 - 1.6460i

2013 National Technology and Science Press. All rights reserved.

12

2/18/2015

Example: For the given vin(t), determine vout(t), t > 025

Laplace Transform pairs:

Time-domain current:

2013 National Technology and Science Press. All rights reserved.

Example: For the given vin(t), determine vout(t), t > 026

2013 National Technology and Science Press. All rights reserved.

13

2/18/2015

EXAMPLE:

Write the node equations in the s-domain

2 nodes

Do not increase number

of nodes

Node V1
i1 (0)
i (0)
C1v1 (0) 2

s
s

1
1
G1 L s L s C1s V1 (s) L s C1s V2 (s)
1
2
2
I A (s)

Node V2
i2 (0)

1
1
G2 C2 s C1s L s V2 (s) C1s L s V1 (s)
2
2
I B (s) C2 v2 (0) C1v1 (0)

27

From Irwin & Nelms, 2011

14