ECEN325: Electronics

Spring 2015
Lecture 2: Linear Circuit Analysis Review

Sam Palermo
Analog & Mixed-Signal Center
Texas A&M University

Announcements
Reading
Fundamentals of Circuit Analysis (Dr. Silva)
1.1, 1.2, App. D, E, F (Sedra/Smith)

Homework 1 is posted on website and due

2/3/2015

Agenda

Laplace Transform
Passive Circuit s-Domain Models
Transfer Functions
Sinusoidal Steady-State Response
Poles & Zeros
Bode Plots
Second-Order Systems

References
Continuous & Discrete Signal & System Analysis,
3rd Ed., C. McGillem and G. Cooper, Saunders
College Publishing, 1991.
Feedback Control of Dynamic Systems, 3rd Ed., G.
Franklin, J. Powell, and A. Emami-Naeini,
Addison-Wesley, 1994.
Design of Analog Filters, R. Schaumann and M.
Van Valkenburg, Oxford University Press, 2001.
4

Motivation Example
Given vo 0 0

Write a KCL at vo

vo t sin 105 t
dv t
10nF o 0
1k
dt
dvo t
vo t
sin 105 t

1k 10nF 1k 10nF
dt
Now, if we remember anything from out Diff. Eq. class, we can solve this equation.
vo t

1 105 t
e
2

Note, this is not trivial.

5
1
1
1
1
cos105 t sin 105 t e 10 t
sin 105 t 45
2
2
2
2

transient response
(can go to zero quickly)

sinusoidal steady-state
response

Now, lets look at Laplace Transforms to make this easier

5

Laplace Transform
Laplace transforms are useful for solving
differential equations
One-Sided Laplace Transform

Lxt X s xt e st dt

where s is a complex variable

s j
Note, j 1 and is the angular frequency (rad/s)

s has units of inverse seconds (s-1)

6

Laplace Transform of Signals

[McGillem]
7

Laplace Transform of Operations

[McGillem]
8

Resistor s-Domain Equivalent Circuit

vt Rit
Time-domain Representation:

Complex Frequency
Representation:

1
i t vt
R

V s RI s

I s

1
V s
R

Capacitor s-Domain Equivalent Circuit

Time-domain Representation:

1t
vt i d v0
C0
i t C

Complex Frequency
Representation:

dvt
dt

1
1
V s
I s v0
sC
s

I s CsV s Cv0

10

Inductor s-Domain Equivalent Circuit

vt L

Time-domain Representation:

Complex Frequency
Representation:

di t
dt

1t
i t v d i 0
L0

V s LsI s Li 0

1
1
I s V s i0
sL
s

11

s-Domain Impedance w/o I.C.

V s I s R

V s I s

Z s R

Z s

1
sC

1
sC

V s I s sL
Z s sL

12

Transfer Function

H s

L vo t Vo s

L vi t Vi s

The transfer function H(s) of a network is the

ratio of the Laplace transform of the output and
input signals when the initial conditions are zero
This is also the Laplace transform of the
networks impulse response
13

RC Transfer Function

Vo s

1
sC

ZC
1
Vin s
Vin s
Vin s
1
1 sRC
Z R ZC
R
sC

AC Transfer Function, H(s)

Vo s
1
H s

Vin s 1 sRC

14

Laplace Transform Circuit Example

Given vo 0 0

Convert to
Laplace Domain
Vo s
10 5
1
1

H s
Vin s 1 sRC 1 s
s 10 5
10 5
5

10 5
10

Vo s H s Vi s
2
s 10 5 2

s 10 5
with partial fraction expansion
1
1
1 5
s
10
2
2
2
Vo s

s 10 5 s 2 10 5 2 s 2 10 5 2

v o t

1 105 t
e
2

with inverse Laplace Transform

5
1
1
1
1
cos10 5 t sin 10 5 t e 10 t
sin 10 5 t 45
2
2
2
2

15

Laplace Transform Circuit Example

We can decompose the output into it' s transient and steady - state response
5
1
1
sin 10 5 t 45 vtr t v ss t
v o t e 10 t
2
2
5
1
v tr t e 10 t
2
1
v ss t
sin 10 5 t 45
2

Note that the transient response decays very quickly!

16

Sinusoidal Steady-State Response

If input vi t is sinusoidal
vi t A cost
The steady - state output will be
v ss t H j A cost H j

17

RC Circuit Sinusoidal Steady-State Response

Vo s
1 s j
1

H j
H s
Vin s 1 sRC
1 jRC

Output Magnitude

1
1

H j H j H j
1 jRC 1 jRC
*

H j

1 RC 2

Output Phase
ImH j
ImNum
ImDen
tan 1
tan 1

H j tan 1

Re
H
j

Re
Num
Re
Den

where Num Numerator and Den Denominator of H j

H j tan 1 RC

0
RC
1
H j tan 1 tan 1
tan RC
1
1
18

RC Circuit Sinusoidal Steady-State

Response Example
H s

1
1

s
10 5

with s j j10 5

H j10 5

H j10

1
1 j
1
1

2
2

H j10 5 tan 1 1 45
v ss t

1
2

sin 10 5 t 45

19

Complex Numbers Properties

[Silva]

Numerical Example

1 j1010 j10
100 j101000 j10
1 j1010 j10
100 j101000 j10

12 10 2 10 2 10 2
100 2 10 2 1000 2 10 2

1.41 10 3

1 j1010 j10 tan 1 10 tan 1 10 tan 1 10 tan 1 10 123

100 j101000 j10

1
10
100
1000

20

Inverse Tangent Function

For small values approximately 0

For large values saturates at /2 or 90
Between 0.1 and 10 can be approximated as
changing with a slope of 45 per decade

21

Poles & Zeros

H s A

s z1 s z2 ...s zm
s p1 s p2 ...s pn

Poles are the roots of the denominator (p1, p2, pn) where H(s)
Zeros are the roots of the numerator (z1, z2, zm) where H(s)0
105
Example 1 : H s
s 105

Example 3 : H s

s 105 0

s 15 0

p1 s 105 rad / s

s
Example 2 : H s
s 105
z1 s 0rad / s
s 105 0

100s 15
s 2 50 s 1500

z1 s 15rad / s
s 2 50 s 1500 0
p1, 2 s1, 2

50 2500 6000
25 j 29.6rad / s
2

p1 s 105 rad / s
22

Bode Plots
Technique to plot the Magnitude (squared) and
Phase response of a transfer function
Magnitude is plotted in Decibels (dB), which is a power
ratio unit
dB

H j 10 log10 H j
2

dB 20 log

10

H j dB

Phase is typically plotted in degrees

ImH j

H j tan
ReH j
1

23

RC Bode Plot Example

H s
H s

Vo s
1
1
1

Vin s 1 sRC 1 s10 5 1 j10 5

1

1 j10 5

1
, where p1 10 5 rad/s
j
1
p1

Magnitude Squared (dB):

20 log10 H j 20 log10

Phase:

1 10 5

20 log10 1 20 log10 1 10 5

PhaseH j tan 1 10 5

24

RC Bode Plot Example

Magnitude:
20 log10 H j 20 log10

Phase:

~20log10 (1)
= 0dB

~-20log10 (10-5)
= -20dB/dec

1 10 5

20 log10 1 20 log10 1 10 5

PhaseH j tan 1 10 5

(rad/s)

|H(j)|

|H(j)|2

20log10|H(j)| (dB)

Phase (H(j)) ()

103

0.9999

0.9999

~0

~0

104

0.995

0.990

-0.043

-5.71

5x104

0.894

0.800

-0.969

-26.6

105

0.707

0.500

-3.01

-45.0

5x105

0.196

0.039

-14.2

-78.7

106

0.100

0.010

-20.0

-84.3

107

10-2

10-4

-40.0

-89.4

108

10-3

10-6

-60.0

-89.9

-45/dec

25

RC Bode Plot Example

Max Error = 3.01dB

-20dB/dec

Max Error = 5.71

-45/dec

26

Transient Response
= 103 rad/s = -p1/100

vo t 1
Phase Shift 0

= 105 rad/s = -p1

vo t

1
2

Phase Shift -45

= 106 rad/s = 10*p1

vo t 0.1
Phase Shift 84.3

27

Bode Plot Algorithm - Magnitude

1. Where is a good starting point?
a.
b.

Calculate DC value of |H(j)|

If not a reasonable value, I like to calculate |H(j)| at equal
to the lowest non-zero value of p1/10 or z1/10

2. Where to end?
a.

Calculate |H(j)| as

3. Where are the poles and zeros?

a.
b.

Beginning at each pole frequency, the magnitude will decrease

with a slope of -20dB/dec
Beginning at each zero frequency, the magnitude will increase
with a slope of +20dB/dec

4. Note, the above algorithm is only valid for real poles

and zeros. We will discuss complex poles later.
28

Bode Plot Algorithm - Magnitude

104 s 1
101 s

H s
s 10s 100 1 s 1 s

10 100
DC Magnitude 10 20dB
HF Magnitude 0 dB

20 log10 H j 20 log10

10 1 2

1 10

1 2

1 10

2 2

2
2
20 log10 10 20 log10 1 2 20 log10 1 101 20 log10 1 10 2

z1 1, p1 10, p2 100

-20dB/dec.

+20dB/dec.

-20dB/dec.

+20dB/dec.
-20dB/dec.

29

Bode Plot Algorithm - Phase

1. Calculate low frequency value of Phase(H(j))
a.
b.
c.

An negative sign introduces -180 phase shift

A DC pole introduces -90 phase shift
A DC zero introduces +90 phase shift

2. Where are the poles and zeros?

a.

b.

c.

For negative poles: 1 dec. before the pole freq., the phase will
decrease with a slope of -45/dec. until 1 dec. after the pole
freq., for a total phase shift of -90
For negative zeros: 1 dec. before the zero freq., the phase will
increase with a slope of +45/dec. until 1 dec. after the zero
freq., for a total phase shift of +90
Note, if you have positive poles or zeros, the phase change
polarity is inverted

3. Note, the above algorithm is only valid for real poles

and zeros. We will discuss complex poles later.

30

Bode Plot Algorithm - Phase

104 s 1
101 s

H s
s 10s 100 1 s 1 s

10 100

H j 180 tan 1 tan 1 tan 1

1
10
100

LF Phase 180
z1 1, p1 10, p2 100
+45/dec.

-90/dec.

+45/dec.

-45/dec.
-45/dec.

-45/dec.

31

Second-Order Systems:
Real or Complex Poles?

H s

k102
s2 s

0
Q

02

0
02
2 poles p1 , p 2

2Q
2Q

2 real poles if Q 0.5

2 complex conjugate poles if Q 0.5
32

Second-Order Systems Real Poles (1)

104
104
H s 2

s 1001s 1000 s 1s 1000

2 poles : p1 1, p2 1000
Note, Q 0.032

-20dB/dec.
-45/dec.

-40dB/dec.
-45/dec.

If poles are spaced by more than 2 decades, there

are 2 distinct regions of -45/dec phase slope
33

Second-Order Systems Real Poles (2)

100
100
H s 2

s 11s 10 s 1s 10

2 poles : p1 1, p2 10
Note, Q 0.287
-45/dec.

-20dB/dec.

-40dB/dec.

-90/dec.

-45/dec.

If poles are spaced by less than 2 decades, there is a region

of -90/dec phase slope
Watch out for system stability!

34

Second-Order Systems Complex Poles

H s

k102
s2 s

02

Q
What is the low frequency magnitude?
H j 0 k1
What is the high frequency magnitude?
H j

k102

-40dB/dec. slope at high frequencies

What happens in the middle, particularly near 0?

H j 0

k102
02 j

02
Q

02

k1Q

Note, if Q 1 then the magnitude exceeds the low frequency value, i.e. frequency peaking occurs!

35

Frequency Peaking w/ Complex Poles

Where is the peak frequency?
d H j
d

For k1=1 and 0=1

2
4

k1 0
d

0
2
d

2
2 2 0

0
Q

pk 0 1

1
2Q 2

0 for large Q

At pk , the peak value is

T pk

k1Q
1
1
4Q 2

k1Q for large Q

Note, phase always

crosses -90 at 0

[Schaumann]

36

Second-Order Systems Bode Plots Summary

2 real poles Plot with standard Bode plot
techniques
2 complex poles Approximate as 2 real poles
at 0
Past 0 the magnitude decreases at -40dB/dec
From 0.10 to 100 the phase slope is -90dB/dec

A more exact plot of second order systems can

be obtained by calculating Q and using the
reference plots on the previous slide
H j0

k102
02

02
j
Q

02

k1Q
37

Next Time
OpAmp Circuits

38