Chapter 3

First Order Transient Circuits

• Electric circuits will be subjected to sudden changes which may be in
the form of opening and closing of switches or sudden changes in
sources etc.
• Whenever such a change occurs, the circuit which was in a particular
steady state condition will go to another steady state condition.
• Transient analysis is the analysis of the circuits during the time it
changes from one steady state condition to another steady state
condition.
• Transient analysis will reveal how the currents and voltages are
changing during the transient period.
• To get such time responses, the mathematical models should
necessarily be a set of differential equations.

1
 Con…

 This chapter deals with the transient response of first order

circuit.
 First order circuit are those circuits whose response can be
expressed by a first order differential equations.
 Example of such circuits include the RL and RC circuits
 RL circuit : circuit that contains an inductor and a resistor.
 RC circuit : circuit that contains a capacitor and resistor
C
 For example: RC circuit Consider R

+
VS i
the following circuit .
-
2
  VS  v C (t)  R i(t)  0
 v c (t)  R i(t)  VS
dvc (t)
since i(t)  C
dt
dv c (t)
 v c (t)  R C  VS
dt
dvc (t) 1 1
  v c (t)  VS
dt RC RC
1 1
let a ,b VS
RC RC
dv c (t) This is the general form of a linear first
  a v c (t)  b order differential equation
dt
3
  This is a first order linear ordinary non-homogenous
differential equation describing the response of the capacitor
voltage.
•It is first order because the highest degree of derivative is one.
•It is called linear because the differential equation is linear
function of (dvc /dt) and vc(t).
 Example of non-linear differential equation :
dv c (t)
v c (t)  v c 2 (t)  b
dt
•It is called ordinary because it deals only with ordinary
derivatives ( not partial derivative )

4
• It is called non-homogenous because b ≠ 0.
•Example of first order linear ordinary homogenous differential
equation is
dv c (t)
 a v c (t)  0
dt

R
 Example : R L circuit

+
VS iL(t) L

-
KVL around the loop

5
 di L (t)
 VS  R i L (t)  L 0
dt
di L (t)  R VS
i L (t) 
dt L L

R VS
let a ,b
L L
di L (t)
 a i L (t)  b
dt
 This is a first order linear ordinary non-homogenous
differential equation.
 To find the response of the Vc(t) in RC circuit or iL(t) in the
RL circuit we need to solve these differentials.

6
  Solution of the first order differential equation :
 Consider the first order linear ordinary non-homogenous
differential equation :
dx(t)
 a x(t)  b……(*)
dt
 We want to find X(t) that satisfies (*)

Theorem : ( in differential equation)

If x (t) = xP (t) is any solution of equation (*) and x (t) = xc (t) is
any solution of the homogenous differential equation

dx c (t)
 a x c (t)  0…….( * * )
dt

7
  then x(t)  x P (t)  x c (t)
Where :
xP(t) = particular solution ( forced solution)
xC(t) = complementary solution ( natural solution)
• Hence we need to solve 2 differential equations
dx P (t)
 a x P (t)  b…………( * )
dt
 What is the function xP(t) that if its differential is summed to
a*xP(t) will give a constant (b).
 The solution xp(t) must be constant
xP(t) = k1

8
Use xP(t) in the non-homogenous differential equation
d
(k 1 )  a k 1  b
dt
b
k1 
a Particular (forced) response
b
 x P (t)  k 1 
a
• Consider the homogenous differential equation:
dx c (t)
 a x c (t)  0…………( * )
dt
1 dx c (t)
   a
x c (t) dt

9
since ln x c (t) 
d 1 dx c (t)

dt x c (t) dt


d
lnx c (t)  a
dt
Take the integral of both sides
lnx c (t)   a dt
lnx c (t)  a t  C
atC
x c (t)  e
at C
x c (t)  e e
let k 2  e c

 x c (t)  k 2 e at
10
  x(t)  x P (t)  x c (t)
x(t)  k 1  k 2 e at

Hence : let   1/a ≡ time constant

Time constant : a parameter that determines the rate of decrease of

x(t)
Let’s find the solution of RC & RL circuits :

Hence, a general form of the solution is:

 t/
x(t)  k1  k 2 e

11
 Example :
C
Assume vc(0) = v0
dvc (t) 1 VS
 v c (t) 
dt RC RC

+
VS ic(t) R

-
t

 v c (t)  k 1  k 2 eat  k 1  k 2 e RC

Vs
b RC
k1    VS
a 1
RC
 To find k2 , we need the initial condition of vc(t)

 For example , if we know vc(0) = V0

12
 t
 v c (0)  VS  k 2 e RC

V0  VS  k 2 (1)
k 2  V0  VS
t
v c (t)  k1  k 2 e RC

t
 VS  (V0  VS ) e RC

As a special case , let’s consider the natural response

Natural response :
Circuit response when no source is affecting the response

13
Case 1 : Natural RC response

Assume vc(0)=V0 C
v c (t)  i c (t) R  0
dv c (t)
v c (t)  C R0 R
dt ic(t)
dvc (t) 1
 v c (t)  0
dt RC

First order linear ordinary homogenous differential equation :

t
v c (t)  k 2 e RC

We can find k2 from initial conditions

14
 Assume v c (0)  V0 then
t vc(t)
v c (0)  V0  k 2 e RC
 k2 V0
 k 2  V0
t
v c (t)  V0 e RC

Note : the general solution of the forced response is

t
x(t)  k 1  k 2 e RC

since VS  0  k1  VS  0
and k 2  (V0  VS )  V0
t
 Vc (t)  V0 e RC

15
 Case 2 : Natural response of RL circuit
R
Assume :
iL(0) = i0
KVL : L
di L (t)
R i L (t)  L 0 iL(t)
dt
di L (t) R
 i L (t)  0
dt L

This is a first order linear ordinary homogenous differential equation

R
t
i L (t)  k 2 e L

16
To find k2, we need initial condition iL(0)
R
(0)
i L (0)  i 0  k 2 e L
 k2 iL(t)
i0
k 2  i0
R
t
i L (t)  i 0 e L

t
Note :
• In the forced response , we have
R
t
i L (t)  k 1  k 2 e L

VS
k1 
R

17
 Since VS here is 0 then k1 = 0

k 2  i 0 
VS 
i0 (since VS  0)
 R 
R
t
 i L (t)  i 0 e L

Analysis Techniques :

1. The differential equation approach

•Here , a differential equation that describe the behavior of the
circuit is used.
•This first order differential equation is expressed in tems of the
voltage across the capacitor or current through the inductor.
•Then the solution of this differential equation is obtained

18
Example :
2

20 A 0.1 
2H 10  40 
iL (t)

Find iL(t) , t ≥ 0 ?

• First, find the initial condition iL(0- )

At t = 0- , the inductor behaves as a short circuit .

19
 2

20 A 0.1 
10  40 
-
iL (0 )
= 20 A

iL(0 - ) = 20 A

•Hence , we assume that the current through the inductor doesn’t

change instantaneously

iL(0 - ) = iL(0) = iL(0+) = 20 A

20
At t = 0 the switch is open
2

-
10  40 
2H iL (0 )
= 20 A

- R eq
OR L= 2 H iL (t)  10 Ω
+

Where Req = (40 // 10) + 2 = 400/5 + 2 =10 Ω

21
KVL around the loop :

v L (t)  veq  0
di L (t)
L  R eq i L (t)  0
dt
di L (t)
2  10 i L (t)  0
dt
di L (t)
 5 i L (t)  0
dt

22
We know that
t
at
i L (t)  k 2 e  k2 e τ

1 1
where a 5  τ 
a 5
 i L (t)  k 2 e5t

We can find k2 from the initial condition

iL(t)
iL(0 ) = 20 = k2 e0 = k2 20
iL(t) = 20 e-5t A

t
23
 Example : 20 k Ω
t=0

Find vc(t) , t ≥ 0 ? +

80 k Ω
vc (t) 50 k Ω
7.5 m A 0.4µ F
-

•The switch has been closed for long time .

•The capacitor behave as open circuit . 20 k Ω

80 k Ω
vc (0-) 50 k Ω
7.5 m A

24
   80 k 
v c (0 )  v c (0)  v c (0 )  50 k Ω 7.5 mA  
 

  80 k  70 k 
  80 k 
 50 k Ω 7.5 mA     200 V
  150 k 
+
At t = 0 , the switch is open
0.4µ F vc(t) 50 k Ω
KVL around the loop :
-
v c (t)  50 k i c (t)  0
 dv c (t) 
v c (t)  50 k C   0 , C  0.4 µ F
 dt 
dv c (t)
 50 v c (t)  0 Vc(t) = 200 e-50t V.
dt

25
Example : 20 k Ω t=0 8kΩ 40 k Ω

+
0.25µ F
60 k Ω

+-
+-

vc (t) 75 V
40 V 160 k Ω
-

Find vc(t) , t ≥ 0 ?
For t < 0 , the capacitor behave as open circuit .
 
vc (0 )  vc (0)  vc (0 )  40 V

At t = 0 , the switch is moved

26
 8kΩ 40 k Ω

+-
vc (t) 75 V
160 k Ω
-

Source transformation

8kΩ
40 k Ω
+
160 k Ω 1.875 m A
vc (t)
-

27
8kΩ

32 k Ω
+ 1.875 m A
vc (t)
-

32 k

8k

+-
vc (t) 0.25µ F 60 V
-

28
KVL around the loop :

60  40 k i c (t)  v c (t)  0
dv c (t)
60  40 k C  v c (t)  0
dt
dv c (t)
 100 v c (t)   6000
dt
a  100 , b  - 6000

v c (t)  k 1  k 2 e at
b  6000
k1     60
a 100

29
To find k2 , we use initial condition:

vc (0)  k1  k 2  40
 60  k 2  40  k 2  100
v c (t)   60  100 e 100 t V

vc(t)
40
30

- 60

30
Case 2 : Step by step approach

1. Assume the solution is x(t) = k1 + k2 e-t/

2. Assume that the circuit is in steady state before the switch moves
 replace a capacitor by open circuit
 replace a inductor by short circuit
Then find vc(0-) or iL(0-)
3. The switch is now in the new location :
 Replace the capacitor by a voltage source = vc(0-)
 Replace the inductor by a current source = iL(0-)
And solve for x(0)
4. Assume t = ∞ , find x (t = ∞)
replace capacitor by open circuit and inductor by short circuit

31
5. Find the time constant :

HOW ??
- Find the Thevenin equivalent resistance w.r.t the terminals of
the capacitor or inductor.
   RTH C or   L/RTH

6. Find the constants :

k1 = x(∞)
k1+k2 = x(0) k2 = x(0)-x(∞)

x(t) = x(∞)+[x(0) - x(∞)] e-t/ 

x(t) = final value + [ initial value – final value ] e –t/

32
Example :
1Ω 2Ω

+
12 V 2Ω v0 (t)
2µF 2Ω
+-

+-
8V

Find V0 (t) ?
t
(1) v0 (t)  k1  k 2 e τ

 V0 ()  V0 (0)  V0 ()e

t
τ

33
 1Ω 2Ω

2Ω 2Ω
+-
12 V v0 (0-)

+-
8V

(2) Assume steady state , replace capacitor by open circuit .

Mesh -12  3 i1  2 (i1 - i 2 )  8  0
5 i1 - 2 i 2  20 LL(1)

2 i 2  8  2 (i 2  i1 )  0
 2 i1  4 i 2  8 L L (2)
i1  4 A , i2  0 A
v c (0  )   i1 (1)  12   4  12  8 V
34
3. The switch is moved now t = 0 ,
replace the capacitor by a voltage source = vc(0-) and solve
for V0(0)
  2  1
V0 (0)  v c (0 )    8  4V
2 2 2

1Ω 2Ω

+
2Ω v0 (t)
+-

12 V
+-
vc (0-)
= 10 V
-
=8V

35
4. At t = ∞ replace capacitor by open circuit
1Ω 2Ω

+
2Ω v0 (t)
+-

12 V
v c () -

 2   2  24
V0 ()  12    12   V
 2  2  1 5 5

36
5. Find the time constant
find the Thevenin equivalent resistance w.r.t x ,y
1Ω 2Ω

2Ω
+-

12 V x
y

RTH = 1 // (2+2) = 1 // 4 = 4/5 Ω

τ  R TH C   Ω  2 F 
4 8
5  5

37
 V0 (t)  v 0 ()  v 0 (0)  v 0 ()e
t
τ
6.
5
24  24  t
  4   e 8
5  5
5
t
24 4 8
v 0 (t)   e
5 5

38
 2 Vx
Example : 4Ω 24 V
+-

t=0
3A + +
4Ω 2µF
Vx v0 (t)
- -

t
Step(1) : v 0 (t)  k 1  k 2 e τ

 
 v 0 ()  v0 (0 )  v 0 () e  t
τ

Step (2) : assume steady-state , replace capacitor by open circuit

Find v0(0-) ?

39
 2 Vx
4Ω 24 V
+-

+
3A +
4Ω v0 (0-)
Vx
-
-

v x  4 (3)  12 V
v 0 (0  )  2 v x  24  v x  3 v x  24
 3 (12)  24  36  24  60 V
v 0 (0  )  60 V

40
Step (3) : now switch is moved .
Find v0(0)
 
v 0 (0 )  v 0 (0)  v 0 (0 )  60 V
hence x(t)  v c (t)

Step (4) : assume t = ∞

Find V0(∞) ? 2 Vx
4Ω 24 V
Vx  0 +-
V0 ()  2 v x  24  v x
 24 +
4Ω v 0 
V0 ()  24 V Vx
-

41
Step (5) : Find the time constant
find the RTH w.r.t the terminals of capacitor
24 V 2 Vx
+-
Voc = 24 V +

+
4Ω 4Ω voc
Vx
- -

42
 Now, find Isc

24 V 2 Vx
24 V 2 Vx
+- +-

+ +
2Ω 4Ω 4Ω I SC
I SC Vx
Vx
-
-

2 Vx  24  Vx  0
3 Vx   24 VOC 24
R TH   6Ω
Vx   8 V ISC 4
Vx  8  4 A τ  R TH C  (6 Ω) (2 F)  12 sec.
I sc 
2 2
43
 V0 (t)  V0 ()  V0 (0)  V0 ()e
t
τ
Step(6) :
t

V0 (t)  24  60  24e 12 

t

V0 (t)  24  36 e 12  V

Example : 12 V 200µ F
Find i0(t) , t > 0 ? 2kΩ +-

t=0
2kΩ 2kΩ
2kΩ
Step (1) : 4kΩ
t i0(t)

i 0 (t)  k 1  k 2 e τ

44
Step 2 : assume steady state ( for t < 0 ) replace capacitor by
open circuit .
 2k
v c (0 )  (12) 4V
6k
 
vc (0 )  vc (0)  vc (0 )  4 V

12 V
+ vC(0-) -
2kΩ +-

2kΩ 2kΩ
2kΩ

i0(t)

45
Step 3 : now switch is moved , replace capacitor by voltage
source = vc(0) ,
Now find i0(0)

12 V 4V
2kΩ +-
+-

2kΩ i2
2kΩ
2kΩ
4kΩ
i0(0+)

46
 6mA
2mA

2kΩ 2kΩ
2kΩ

i0(0+)

8mA

2kΩ
1k Ω
i0
 1k 
i 0 (0)  8 mA    2.66 mA
 3k 
47
 Step 4 : assume t = ∞ , find i0(∞) . Steady state
Replace capacitor by open circuit
12 V
2kΩ +-

2kΩ 2kΩ
4kΩ 2kΩ

i 0 ()
12 V
+-

2kΩ
2kΩ

i 0 ()

48
 12
i 0 ()   3 mA
4k
Step 5 : find time constant .
First find RTH at terminals of the capacitor
R TH  4 k // 4 k // 2 k   2 k
 3k Ω
τ  R TH C  3k Ω200µ F  0.6 sec
RTH
2kΩ

2kΩ 2kΩ
4kΩ 2kΩ

49
Step 6 : find the solution i0(t)
t

i 0 (t)  i 0 ()  i 0 (0)  i 0 ()e τ

t
 3  (2.66  3) e 0.6 mA
t
i 0 (t)  3  0.33 e 0.6 mA

50
 Example: 12 V
50 µF t=0 4k Ω
+-

3k Ω
4k Ω 12k Ω 8k Ω
12k Ω
i0 (t)

Find io(t) , using Step by step approach.

51
Step 1 : assume i0(t) = k1+ k2 e –t/ 
Step 2 : assume t < 0 ( steady state)
Replace capacitor by open circuit and find voc(0-)
As we have done before , vc(0-) = vc(0)= vc(0+) = - 4 V.
Step 3 : now the switch is moved
replace the capacitor by voltage source of value -4 and find i0(0)
-4 4k Ω
+- +-

i
3k Ω 4k Ω 12k Ω 12k Ω 8k Ω

i0 (0+)

52
 4 4 2
i(0)    mA
3k  4 k // 12 k  6 k 3
 2  12 k   2  12  1
i 0 (0)      mA
3  12 k  4 k  3  16  2

Step 4 : assume t = ∞ , steady state

replace capacitor by open circuit and find i0(∞)

3k Ω 4k Ω 12k Ω
i0(∞) = 0
i 0 ()

53
Step 5 : find 
R TH  12 k // 4 k  3k  6 k
τ  R TH C  6 k 50µ   0.3 sec
R TH

3k Ω 4k Ω 12kΩ
Step 6 :
i 0 (t)  i 0 ()  i 0 (0)  i 0 ()e t τ

1 t
0 e 0.3 mA
2
1 t 0.3
i 0 (t)   e mA t0
2
54
Example : 5k Ω t=0
2k Ω

10 mA
4k Ω 4kΩ 10 mH 2k Ω
i0 (t)

find i0(t) using step by step approach ?

Step 1 : assume i0(t) = k1 + k2 e -t/

Step 2 : assume t < 0 ( steady state )

Replace inductor by short circuit and find
iL(0-) = i0(0-)

55
 5k Ω

2k Ω

10 mA
4k Ω 4k Ω 2k Ω
i0 (0)

5k Ω 2k Ω

10 mA
2k Ω

 2k 
i 0 (0 )  10 mA 

  5 mA
 2k  2k 
56
Step 3 : now the switch is moved t = 0 replace inductor by a
current source of value = 5 mA.
Since it is inductor i0(0-) = i0(0)

Step 4 : assume t = ∞ ( steady state )

Replace inductor by short circuit and find i0(∞)

5k Ω 2k Ω

10 mA
4k Ω 4k Ω 2k Ω
i0 (t)

57
 2k Ω
5k Ω 2k Ω
5k Ω
10 mA
4kΩ
4k Ω 4k Ω RTH
i0 (t)

 2k 
i 0 ()  10 mA    5 mA
 2k  2k 
Step 5 : find  where  = L / RTH
Let’s find RTH at the terminals of the inductor
RTH = (4 k // 4 k) + 2 k
=4kΩ
 = L / RTH = 10m/4k = 2.5  sec

58
Step 6 : find i0(t)
t
i 0 (t)  i 0 ()  i 0 (0)  i 0 ()e τ

 5 m  5 m  5 me
t
2.5µs
A
i 0 (t)  5 mA

59
Example :
6Ω 4Ω 4Ω
i 0(t)
1H
t=0
+
- 12Ω 6Ω 8Ω
24 V i L(t)

Find i0(t) using step by step approach ?

Step 1 : assume i0(t) = k1 + k2 e –t / 
Step 2 : assume t < 0 ( steady state )
Replace inductor by short circuit and find iL (0-)

60
 6Ω 4Ω 4Ω
i 0(0-)

12Ω 6Ω 8Ω
+

-
i L(0 )
-

24 V

6Ω 4Ω

i 0(0-)
iL(0-) = 24 / 6 = 4 A
i (0-) = 0 A
0 4Ω
+
-
i L(0 )
24 V -

Step 3 : switch is moved

Replace inductor by current source of value (4 A) and find i0(0)

61
 4Ω 4Ω

i 0(0+)

12Ω 4A 6Ω 8Ω
i L(0-)

12Ω 4Ω 4Ω

i 0(0+)

6Ω 8Ω
+-

48 V 16 Ω

i 0(0+)

i0(0) = - 48 / 20 48 V 4Ω

+-
i0(0) = -2.4 A

62
Step 4 : assume t = ∞ ( steady state)
Replace inductor by short circuit and find i0(∞)

i0(∞) = 0 A

Step 5 : find    = L / RTH

So find RTH across the terminal of the inductor

4Ω 4Ω

R TH 6Ω 8Ω
12Ω

63
R TH  4  8 // 6  4// 12  4.8
L 1
τ  sec
R TH 4.8

Step 6 : find i0(t)

i 0 (t)  i 0 ()  i0 (0)  i 0 ()e

t
τ
A
 0   2.4  0 e 4.8 t A, t0
i (t)   2.4 e4.8 t A
0 i0(t)
i0 (t)  0 , for t0
t

- 2.4

64
Example :
Solve previous example using differential equation approach
For t < 0 , steady state
Replace the inductor by short circuit and find iL(0-) and i0(0-)

As before iL(0-) = 4 A = iL(0+)

i0(0-) = 0 A
For t > 0 ,
4Ω 4Ω
i 0(t)

12Ω L= 1 H 6Ω 8Ω

i L(t)

65
 4Ω

i 0(t)

4Ω
12Ω
i L(t)

 12 k  12 i (t)
i 0 (t)   i L (t)   L
 12 k  8 k  20
3
i 0 (t)  i L (t)
5

So we need to find iL(t) first

66
 i 0(t)

8Ω 12Ω L 4.8Ω
i L(t)
i L(t)

KVL :
VL (t)  i L (t) (4.8)  0
di L (t)
L  4.8 i L (t)  0
dt
di L (t)
 4.8 i L (t)  0
dt

67
 i L (t)  k e 4.8 t , t0
i L (0)  4  k
 i (t)  4 e4.8 t ,t  0
L

3 3
 i 0 (t)  i L (t)  4 e 4.8 t
5 5
12 4.8 t
i 0 (t)  e
5 i0(t)
i 0 (t)   2.4 e4.8 t , t  0
t
i 0 (t)  0 , t0

- 2.4

68