Chapter 5

Transient Analysis

Jaesung Jang

Complete response = Transient response + Steady-state response

Time Constant
First order and Second order Differential Equation

.
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 Transient Analysis
The difference of analysis of circuits with
energy storage elements (inductors or
capacitors) & time-varying signals with
resistive circuits is that the equations
resulting from KVL and KCL are now
differential equations rather than algebraic
linear equations resulting from the resistive
circuits.

Transient region: the region where the

signals are highly dependent on time.
(temporary)
No voltage or current sources
Transient Analysis 1

0. 9

Steady-state region: the region where the 0. 8

signals are not time dependent (time rate of 0. 7

0. 6

change of signals is equal to zero) or

V/Vs
0. 5

periodic. d( )
0. 4

=0 0. 3

Constant signals dt 0. 2

0. 1

Sinusoidal signals 0
0 1 2 3 4 5
t (s e c )
6 7 8 9 10
2
 Solution of Ordinary Differential Equation
Transient solution (xN) is a solution of the dx
homogeneous equation: transient (natural) + x = Vs
response. -> temporary behavior without the dt
source.
Steady-state (particular) solution (xF) is a solution dx N
due to the source: steady-state (forced ) + xN = 0
dt
response.

Complete response = transient (natural) response dx F

+ x F = Vs
+ steady-state (forced ) response -> x = xN + xF dt
First order: The largest order of the differential 1

equation is the first order. 0.9

0.8

RL or RC circuit. 0.7

0.6

Second order: The largest order of the differential

V/Vs
0.5

equation is the second order.

0.4

0.3

RLC or LC circuit. 0.2

0.1

0
0 1 2 3 4 5 6 7 8 9 10
t (s ec )

3
 Writing Differential Equations
Key laws: KVL & KCL for capacitor voltages or inductor currents
vR
KCL : iR = iC = iC
R
KVL : v S + v R + vC = 0 v S + iR R + vC = 0
iC (t )
t
iC R + vC (t = 0) + dt = v S
C
0
diC i dv di i dv
R + C = S C + C = S : Differential equation for iC
dt C dt dt RC Rdt
vR dv v vC dv v v
= iC = C C = S C + C = S : Differential equation for vC
R dt R dt RC RC

dx(t )
a1 + a0 x(t ) = b0 f (t )
dt
where x(t ) represents the capacitor voltage or the inductor current and
the constants a1 , a0 , and b0 represents combinations of circuit element parameters.
First - order linear ordinary differential equation

4
 Writing Differential Equations (cont.)
KCL : iR = iC = iL = i
Key laws: KVL & KCL
KVL : v S + v R + vC + v L = 0 vS + iR R + vC + v L = 0
i(t )
t
iR + vC (t = 0 ) +
di
0
C
dt + L = v S
dt
2
di i d i dvS d 2i Rdi i dv
R+ +L 2 = 2+ + = S : Differential equation for i
dt C dt dt dt Ldt LC Ldt
vR dv v vC v L dv v v 1 d dv
= iC = C C = S C C = S C L C C
R dt R dt R R R dt dt
dvC d 2 vC
RC = v S vC LC 2
dt dt

d 2 vC
LC + RC dvC + vC = vS : Differential equation for vC
dt 2 dt

d x(t )
2
dx(t )
a2 + a1 + a0 x(t ) = b0 f (t ) Second - order linear ordinary differential equation
dt 2 dt
where x(t ) represents the capacitor voltage or the current and
the constants a 2 , a1 , a0 , and b0 represents combinations of circuit element parameters.
a2 d 2 x(t ) a1 dx(t ) 1 d 2 x(t ) 2 dx(t )
+ x(t ) = f (t ) 2 + x(t ) = K S f (t )
b0
+ +
a0 dt 2 a0 dt a0 n dt 2 n dt
where the constants n = a0 a 2 , = (a1 2) 1 a0 a2 and K S = b0 a0 termed the natural frequency, the damping ratio, 5
and the DC gain, respectively.
Examples of Writing Differential Equations
vR
KCL : i R1 = iL + i R2 = iL + i R2
R
KVL : v S + v R + v L = 0 v R = vS v L
v (t )
t
v vL
= iL (t = 0) + L
vR v
R
= i L + i R2 S
R L
dt + L
0
R

Rv L (t ) Rv L (t )
t t
v S v L = RiL (t = 0 ) + dt + v L v S = RiL (t = 0 ) + dt + 2v L
L L
0 0
dvS R 2dvL dv R dv
= vL + 2 L + v L = S : Differential equation for v L
dt L dt dt L dt

KCL : iR1 = iC + i L
KVL : vS + v R1 + vC = 0 vS = v R1 + vC
diL
vC + v R2 + v L = 0 vC = v R2 + v L = L + iL R2
dt
dvC d diL d 2 iL
v R1 = i R1 R1 = (iC + iL )R1 = C
di
+ iL R1 = C L + iL R2 + i L R1 = LC 2 + R2C L + i L R1


dt dt dt dt dt
d 2
i di di
v S = v R1 + vC = LC 2L + R2 C L + iL R1 + L L + i L R2
dt dt dt

d 2i L diL di
v S = R1 LC + R1 R2C + R1i L + L L + iL R2
dt 2 dt dt
d 2 iL
+ (R1 R2 C + L ) + (R1 + R2 )iL = vS : Differential equation for iL
diL
R1 LC 6
dt 2 dt
 DC steady state solution: Final Condition
Steady state solution due to AC (sinusoidal waveforms) is in Chap. 6 (frequency
response).
DC steady state solution: response of a circuit that have been connected to a DC
source for a long time or response of a circuit long after a switch has been
activated.
All the time derivatives are equal to zero at the steady state.

Capacitors: insulators (very large resistances) are inside the capacitors.

Inductors: Induction works only when the change in electric fields happens.
dvC (t )
iC (t ) = C 0 as t
+ dt
di (t )
+
+ v L (t ) = L L 0 as t
+ dt
At DC steady state,
all capacitors behave as open circuits
and all inductors hehave as short circuits.
d 2 iL
+ (R1 R2C + L ) + (R1 + R2 )iL = vS
dvC vC v di L
+ = S R1 LC 2
dt RC RC dt dt
vC = v S at the steady state vS
iL = at the steady state 7
(R1 + R2 )
 DC steady state solution: Initial Condition
Initial condition: response of a circuit before a switch is first activated.
Since power equals energy per unit time, finite power requires continuous
change in energy.
Primary variables: capacitor voltages and inductor currents-> energy
WL (t ) = Li L2 (t ) WC (t ) = CvC2 (t )
1 1
storage elements
2 2
Capacitor voltages and inductor currents cannot change instantaneously but
should be continuous. -> continuity of capacitor voltages and inductor
currents
The value of an inductor current or a capacitor voltage just prior to the
closing (or opening) of a switch is equal to the value just after the switch has
been closed (or opened).
( ) ( )
vC t = 0 = vC t = 0 +
iL (t = 0 ) = i (t = 0 )

L
+

where the notation 0 signifies " just before t = 0" and

0 + signifies " just after t = 0" Discontinuous of capacitor voltage
-> infinite power at t=0.
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 First Order Response
First-order circuit: one energy storage element + one energy loss
element (e.g. RC circuit, RL circuit)

Procedures
Write the differential equation of the circuit for t=0+, that is, immediately
after the switch has changed. The variable x(t) in the differential equation
will be either a capacitor voltage or an inductor current. You can reduce
the circuit to Thevenin or Norton equivalent form.
Identify the initial conditions x(t=0+) [= x(t=0-)] and final conditions x(t=).
Solve the differential equation.
Write the complete solution for the circuit in the form.
x(t ) = x(t = ) + [x(t = 0 ) x(t = )]exp( t )
The time constant () is a measure of how fast capacitor voltages or
inductor currents react to the input (voltage or current source). It is a
period of time during which capacitor voltages or inductor currents
change by 63.2% to get to the steady state. [x(t = ) x(t = 0)]
= 1 e 1 = 0.632
[x(t = ) x(t = 0)]
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 First Order Response (cont.)
First-order circuit: one energy storage element + one
energy loss element (e.g. RC circuit, RL circuit)
dx (t ) a dx (t ) dx(t )
+ a0 x (t ) = b0 f (t ) 1 + x(t ) = 0 f (t ) + x (t ) = K S f (t )
b
a1
dt a0 dt a0 dt
where = a1 a0 and K S = b0 a0 termed the time constant and DC gain, respectively.

Natural Response
dx (t ) dx (t ) x N (t )
N + x N (t ) = 0 N = x N (t ) = x0 e t where x0 is a constant.
dt dt
dx (t )
Forced Response due to DC (where f (t ) = F ) : F 0
dt
dx (t )
F + x F (t ) = K S F t 0 x F (t ) = K S F t 0
dt
Complete Response
x(t ) = x N (t ) + x F (t ) = x0 e t + x(t = ) = x0 e t + K S F (for DC)
x(t = 0 ) = x0 + x(t = ) x0 = x(t = 0 ) x(t = ) for t 0 10
Example: First Order Response 1

vR
Step1 : KCL : iR = iC = iC
R
KVL : v S + v R + vC = 0 v S + i R R + vC = 0
v vC dx(t )
+ x(t ) = K S F
vR dv dv
= iC = C C = S RC C + vC = v S t > 0
R dt R dt dt
( ) ( )
Step2 : vC t = 0 = 5 V = vC t = 0 + , vC (t = ) = 12V(= v S )
Step3 : x = vC , = RC = 1k 470F = 0.47, K S = 1, F = vS
Step4 : vC (t ) = (vC (t = 0) vC (t = ))e t + vC (t = ) = 12 + ( 7 )e t 0.47

11
Example: First Order Response 2
Step1 : KCL : iR = i L
di L
KVL : v B + v R + v L = 0 v B + i L R + L =0
+ dt
dx(t )
+ x(t ) = K S F
L di L v
+ iL = B t > 0
R dt R dt
( ) ( )
Step2 : iL t = 0 = 0 A = iL t = 0 + , iL (t = ) = v B R = 12.5A
Step3 : x = i L , = L R = 0.1H 4 = 0.025, K S = 1 R , F = v B
Step4 : iL (t ) = (i L (t = 0) i L (t = ))e t + i L (t = ) = 12.5 + ( 12.5)e t 0.025

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 First Order Transient Response Using
Thevenin/Norton Theorem
One must be careful to determine the equivalent
circuits before and after the switch changes position.
it is possible that equivalent circuit seen by the load
before activating the switch is different from the circuit
seen after closing the switch.

vC (t ) = V2 t 0 ( ) (
vC t = 0 = V2 = vC t = 0 + )

13
 First Order Transient Response Using
Thevenin/Norton Theorem (cont.)
Page 11

dx(t ) dx(t )
+ x(t ) = K S F
dvC
dv
Step1 : RT C C + vC = VT t > 0 + x(t ) = K S F Step1 : RC + vC = v S t > 0
dt dt
( ) ( )
dt dt
( ) ( )
Step2 : vC t = 0 = V2 = vC t = 0 + , vC (t = ) = VT Step2 : vC t = 0 = vC t = 0 + , vC (t = ) = v S
Step3 : x = vC , = RT C , K S = 1, F = VT Step3 : x = vC , = RC , K S = 1, F = v S

Step4 : vC (t ) = (vC (t = 0 ) vC (t = ))e t + vC (t = ) = (V2 VT )e t + VT Step4 : vC (t ) = (vC (t = 0 ) vC (t = ))e t + vC (t = )

V V
RT = R1 || R2 || R3 VT = RT 1 + 2
R1 R2

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 First Order Transient Response Using
Example 5.10
Thevenin/Norton Theorem (cont.)
0 (closing) < t < 50 ms
dx(t )
+ x(t ) = K S F
dvC
Step1 : RT C + vC = VT t > 0
dt dt
( ) ( )
Step2 : vC t = 0 = 0 = vC t = 0 + , vC (t = ) = VT
Step3 : x = vC , = RT C , K S = 1, F = VT
Step4 : vC (t ) = (vC (t = 0) vC (t = ))e t + vC (t = ) = ( VT )e t + VT

RT = (R1 || R2 ) + R3
R2
VT = VB : voltage divider
R1 + R2

50 ms (open the switch again) < t

dx(t )
+ x (t ) = K S F
dvC
Step1 : RT C + vC = 0 t > 0
dt dt
( ) ( )
Step2 : vC t = 0 = vC (t = 50ms )(from the solution above ) = vC* = vC t = 0 + , vC (t = ) = 0
Step3 : x = vC , = RT C , K S = 1, F = 0 where RT = R2 + R3
( ) ( )
Step4 : vC (t ) = (vC (t = 0 ) vC (t = ))e t + vC (t = ) = vC* e t vC (t ) = vC* e (t 0.05 )

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 RC Charging & Discharging
Discharging
Charging: S1 closed & S2 opened
Discharging: S2 closed & S1 opened
Time constant ( = RC)=0.1 sec Charging

Note: Capacitor voltage is continuous,

but capacitor current is not (many jumps).

[x(t = ) x(t = 0)] = 1 e 1 = 0.632

[x(t = ) x(t = 0)]
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 Second Order Transient Response
Second-order circuit: two energy storage element w/wo
one energy loss element (e.g. RLC circuit, LC circuit)

vR
KCL : iS = iC + iL = i L + iC
RT
KVL : vT + v R + v L = 0 v R = vT v L and vT + v R + vC = 0 v R = vT vC
vR 1 di dv d di
= iL + iC vT L L = iL + C C = i L + C L L
RT RT dt dt dt dt
1 di L d 2i L vT d 2iL L di L
vT L = i L + LC 2 = LC 2 + + iL
RT dt dt RT dt RT dt
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Second Order Transient Response (cont.)
d 2 x(t ) dx(t ) 1 d 2 x(t ) 2 dx(t )
a2 + a1 + a0 x(t ) = b0 f (t ) 2 + + x(t ) = K S f (t )
dt 2 dt n dt 2 n dt
where the constants n = a0 a 2 , = (a1 2 ) 1 a0 a 2 and K S = b0 a0 termed the natural frequency, the damping ratio,
and the DC gain, respectively.
The final value of 1 is predicted by the DC
gain KS=1, which tells us about the steady
state.

The period of oscillation of the response is

related to the natural frequency wn=1 leads
to T=2 pi/wn = 6.28 sec.

The reduction in amplitude of the

oscillation is governed by the damping
ratio. With large damping ratio, the
response not overshoots (oscillates) but
looks like the first order response.
n = 1, = 0.1 and K S = 1

Damping -> friction effect 18

 Second Order Response
1 d 2 x(t ) 2 dx(t )
+ + x(t ) = K S f (t )
n2 dt 2 n dt
Natural Response
1 d 2 x N (t ) 2 dx N (t )
+ + x N (t ) = 0
n2 dt 2 n dt
x N (t ) = 1e s1t + 2 e s2t where s1, 2 = n n 2 1
Case 1 : Real and distinct roots.( > 1) Overdamped response
Look like the first order system
s1, 2 = n n 2 1
Case 2 : Real and repeated roots.( = 1)
Critically overdamped response Oscillation
s1, 2 = n
Case 3 : Complex roots.( < 1) Underdamped response Oscillation
s1, 2 = n j n 1 2
dx F (t )
Forced Response due to DC (where f (t ) = F ) : 0
dt
1 d 2 x F (t ) 2 dx F (t )
+ + x F (t ) = K S f (t ) t 0 x F (t ) = K S F t 0
n2 dt 2 n dt
Complete Response
19
x(t ) = x N (t ) + x F (t ) 1 and 2 is constants that will be determined by the initial conditions.
 Second Order Response (cont.)
Procedures
Write the differential equation of the circuit for t=0+, that is,
immediately after the switch has changed. The variable x(t) in the
differential equation will be either a capacitor voltage or an
inductor current. You can reduce the circuit to Thevenin or Norton
equivalent form. Rewrite the equation as the standard form.
Identify the initial conditions x(t=0+) and dx/dt(t=0+) using the
continuity of capacitor voltages and inductor currents.
Write the complete solution for the circuit in the form.
+ 2 1 t 2 1 t

Case 1 : Real and distinct roots.( > 1) : x(t ) = 1e + e + x F (t )
n n n n

2

Case 2 : Real and repeated roots.( = 1) : x( t = 1e (n )t + 2te (n )t + x F t

) ()
+ j 1 2 t j 1 2 t

Case 3 : Complex roots.( < 1) : x(t ) = 1e +2 + x F (t )
n n n n
e

Apply the initial conditions to solve for the constants 1 and 2 .

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 Example: Second Order Response
vR
Step1 : KCL : iS = iC = iL = iL + iC
RT
KVL : v S + v R + v L + vC = 0 v R + v L + vC = v S
i L (t )
t
d 2i L
+ vC (t = 0 ) +
diL di i dv
iL R + L
dt C
dt = v S L 2 + R L + L = S = 0
0
dt dt C dt

( ) ( ) (
Step2 : vC t = 0 = 5 V = vC t = 0 + , iL t = 0 = 0 A = iL t = 0 + ) ( )
( )
iL t = 0 + R + L
diL
dt
( ) ( ) (
t = 0 + + vC (t = 0 ) = v S 1 L t = 0 + + 5 V = 25V L t = 0 + = 20A/s
di
dt
di
dt
)
d 2i L d 2iL 1 d 2 x(t ) 2 dx(t )
+ x (t ) = K S f (t )
diL i L diL
Step3 : L +R + = 0 LC 2 + RC + iL = 0 : 2 +
dt 2 dt C dt dt n dt 2 n dt
2 RC n R C 5000 10 6
1
= LC n =
1
=
1
= 1000 (rad/s ), = RC = = = = 2.5
n2 LC 10 6 n 2 2 L 2 1
Overdamped response
iL (t ) = 1e s1t + 2 e s2 t where s1, 2 = n n 2 1
Complete Response (forced response = 0)
+ 2 1 t 2 1 t

iL (t ) = 1e + 2
n n n n
e

Step4 : Using 0 A = iL t = 0 + ( ) and

diL
dt
( )
t = 0 + = 20A/s, determine the constants 1 and 2

( )
iL t = 0 + = 0 = 1 + 2
2 1 t
n + n 1 t
e n n
2

= 1 n + n 2 1 e +
diL
2 n n 2
1
dt
diL
dt
( )
t = 0 + = 20 = 1 n + n 2 1 + 2 n n 2 1

21
Overdamped and Underdamped Circuit

22