ECE2205: Circuits and Systems I 9–1

Second-Order R LC Circuit Analysis

• We have examined first-order circuits (RC and RL) in detail in the

time domain.
• We found that we can also analyze higher-order circuits in the time
domain, but the math is tedious.
• We then introduced the Laplace transform and showed how circuits
can be represented in the Laplace domain.
• This chapter of notes focuses on the analysis of second-order RLC
circuits using Laplace techniques.
• It also shows how time-domain response can be qualitatively
understood directly from the Laplace domain, without always needing
to perform an inverse Laplace transform.

The Series RLC Circuit

• We first look at the series RLC circuit, vr (t) v L (t) i(t)
drawn to the right.
vin (t) vc (t)
• In an application, we might want to find
vr (t), v L (t), vc (t), and/or i(t).
i L (0)/s
• Assuming general initial
R a sL b vc (0)/s
conditions, we redraw the
circuit to the right, in the 1
Vin (s) Vr (s) VL (s) Vc (s)
Laplace domain. sC

c 2006, Dr. Gregory L. Plett

Lecture notes prepared by & Copyright °
ECE2205, Second-Order RLC Circuit Analysis 9–2

• Apply KCL at a:
E a (s) − Vin(s) i L (0) E a (s) − E b (s)
+ + = 0.
R s Ls
• Apply KCL at b:
i L (0) E b (s) − E a (s) (E b (s) − vc (0)/s) − 0
= + .
s Ls 1/(sC)
• Re-writing in terms of Vc (s) = E b (s), VL (s) = E a (s) − E b (s), and noting
E a (s) = Vc (s) + VL (s),
µ ¶
1 1 1 Vin(s) i L (0)
Vc (s) + + VL (s) = −
R R Ls R s
1 i L (0)
sC Vc (s) −
VL (s) = Cvc (0) + .
Ls s
• This may be written in matrix-vector form:
 ¶  µ ¶ 
V (s) i (0)
µ
1 1 1 in L
−
" #
+  Vc (s)
 R

R Ls  =

 µ R s ¶

.
 1  VL (s) i L (0) 
sC − Cv c (0) +
Ls s
• Inverting the matrix (thank you, Matlab)
 
" # R R + Ls Vin(s) i L (0)

Vc (s)  LCs 2 + RCs + 1 LCs 2 + RCs + 1 −
R s 

= i L (0)  .
RLCs 2

VL (s)  −Ls 
Cvc (0) +
LCs 2 + RCs + 1 LCs 2 + RCs + 1 s
• Note that we can now solve for Vc (s), VL (s), and/or
Vr (s) = Vin(s) − Vc (s) − VL (s) given Vin(s), vc (0), and i L (0).
• All terms have a common denominator based on the transfer function
1
H (s) = ,
LCs 2 + RCs + 1
so we need to spend some time examining this term.

c 2006, Dr. Gregory L. Plett

Lecture notes prepared by & Copyright °
ECE2205, Second-Order RLC Circuit Analysis 9–3
Second-Order System Response

• We can solve for the denominator roots using the quadratic equation:
s
p µ ¶2
−RC ± (RC)2 − 4(LC) R R 1
s1,2 = =− ± − .
2LC 2L 2L LC
• There are three possible scenarios for s1,2 based on the radical being
+, −, or zero.

CASE I : Unique real roots.

• When (RC)2 − 4LC > 0, then the circuit has two real roots s1 and s2
and s1 6= s2.
• The transfer function has poles s1 and s2 so the natural solution to the
circuit has terms of the form £
yn (t) = k1es1t + k2es2t u(t).
¤

• The circuit is said to have an overdamped response.

CASE II : Repeated real roots.

• When (RC)2 − 4LC = 0, the circuit has two identical roots

R
s1 = s2 = − .
2L
• The natural solution has theh form i R R
yn (t) = k1e− 2L t + k2te− 2L t u(t).

• The circuit is said to have a critically damped response.

CASE III : Complex-conjugate roots.

• When (RC)2 − 4LC < 0 the radical produces an imaginary term, so

the two roots are complex conjugates of each other
s1 = σ + jω
c 2006, Dr. Gregory L. Plett
Lecture notes prepared by & Copyright °
ECE2205, Second-Order RLC Circuit Analysis 9–4
s2 = σ − jω,
p
R 4LC − (RC)2
where σ = − and ω = .
2L 2LC
• The natural solution is of the form
£ (σ + j ω)t (σ − j ω)t
¤
yn (t) = k1e + k2e u(t),

where k1 = |k1|e j ψ and k2 = |k1|e− j ψ . That is, k2 = k1∗, and ψ = 6 k1.

• This circuit is said to have an underdamped response.
• Note that the given form for yn (t) is not as simple as we might like
because of the “ j” terms.
• We use Euler’s equation to simplify:
j ψ σ t j ωt − j ψ σ t − j ωt
£ ¤
yn (t) = |k1|e e e + |k1|e e e u(t)
= |k1|eσ t e j (ωt+ψ) + e− j (ωt+ψ) u(t)
¡ ¢

= 2|k1|eσ t cos(ωt + ψ)u(t).

SUMMARY: The values of R, L, and C determine whether the natural

response is overdamped, critically damped, or underdamped.
¡ s1 t s2 t
¢
• s1, s2 real and s1 6= s2: yn (t) = k1e + k2e u(t).
• s1 = s2: yn (t) = k1es1t + k2tes1t u(t).
¡ ¢

• s1 = s2∗ = σ + jω: yn (t) = 2|k1|eσ t cos(ωt + 6 k1)u(t).

• Note that a pole-zero plot in the s-plane quickly shows qualitative

behavior. We explore this in more detail now.

Time Response vs. Pole Locations: 1st-Order Pole (stable)

• Poles qualitatively determine the behavior of the system. Zeros

quantify this relationship.

c 2006, Dr. Gregory L. Plett

Lecture notes prepared by & Copyright °
ECE2205, Second-Order RLC Circuit Analysis 9–5
• For systems having only real poles, each pole contributes an output
waveform of the same general kind, all of which are added together.
1 s
EXAMPLE : ←→ h(t) = e−σ t u(t).
H (s) =
s+σ
• If σ > 0, pole is at <e(s) < 0, stable i.e., impulse response decays,
and any bounded input produces bounded output.
• If σ < 0, pole is at <e(s) > 0, unstable.
• σ is “time constant” factor: τ = 1/σ .
impulse([0 1],[1 1]); step([0 1],[1 1]);
1 1

0.8 0.8
K (1 − e−t/τ )
−σ t
e
y(t) × K

0.6 0.6 System response. K = DC gain

h(t)

0.4 1 0.4
←−
e
Response to initial condition
0.2 0.2
−→ 0.
0 0
0 1 2 3 4 5 0 1 2 3 4 5
t =τ t =τ
Time (sec × τ ) Time (sec × τ )
Time Response vs. Pole Locations: 2nd-Order Pole (stable)

• For systems having complex-conjugate poles, each pair contributes

an output waveform of the same general kind, all of which are added
together at the output.
• To understand, we write the second-order system in “standard form”

b0 ωn2
H (s) = 2 =K 2 (standard form).
s + a1 s + a2 s + 2ζ ωn s + ωn2

ζ = damping ratio.
ωn = natural frequency or undamped frequency.

c 2006, Dr. Gregory L. Plett

Lecture notes prepared by & Copyright °
ECE2205, Second-Order RLC Circuit Analysis 9–6
ωn
h(t) = p e−σ t (sin(ωd t)) u(t),
1 − ζ2
where, σ = ζ ωn ,
p
ωd = ωn 1 − ζ 2 = damped frequency.
=m(s) =m(s) =m(s) =m(s)
−1 ◦ ◦ ◦
θ = sin (ζ ) 45 30 17.5

ωn
<e(s) <e(s) <e(s) <e(s)
ωd
σ

ζ = 0.707 ζ = 0.5 ζ = 0.3

Impulse Response
1

0.5
e−σ t
h(t)

0
Envelope of sinusoid decays as e−σ t
−0.5
−e−σ t

−1
0 5 10 15 20 25 30
Time (sec)
Impulse Responses of 2nd-Order Systems Step Responses of 2nd-Order Systems
1 2
ζ =0 ζ =0
0.2 0.2
0.5 0.4 1.5
0.4
0.6
y(t)

y(t)

0.6
0 1
ζ =1 0.8

−0.5 0.5 0.8

1.0

−1 0
0 2 4 6 8 10 12 0 2 4 6 8 10 12
ωn t ωn t

c 2006, Dr. Gregory L. Plett

Lecture notes prepared by & Copyright °
ECE2205, Second-Order RLC Circuit Analysis 9–7
• Low damping, ζ ≈ 0, oscillatory; High damping, ζ ≈ 1, no oscillations.
=m(s) =m(s)

<e(s) <e(s)

Impulse responses vs. pole locations Step responses vs. pole locations

•0<ζ <1 underdamped.

•ζ =1 critically damped, ζ > 1 overdamped.

Time Response vs. Pole Locations: Higher Order Systems

• We have looked at first-order and second-order systems without

zeros, and with unity gain.

Non-unity gain

• If we multiply by K , the dc gain is K . tr , ts , M p , t p are not affected.

Add a zero to a second-order system

2 2(s + 1.1)
H1(s) = H2(s) =
(s + 1)(s + 2) 1.1(s
µ + 1)(s + 2) ¶
2 2 2 0.1 0.9
= − = +
s+1 s +2 1.1 s + 1 s + 2
0.18 1.64
= +
s+1 s+2

• Same dc gain (at s = 0).

c 2006, Dr. Gregory L. Plett
Lecture notes prepared by & Copyright °
ECE2205, Second-Order RLC Circuit Analysis 9–8

• Coefficient of (s + 1) pole greatly reduced.

• General conclusion: a zero “near” a pole tends to cancel the effect of
that pole.
• How about transient response?
(s/αζ ωn ) + 1
H (s) = .
(s/ωn )2 + 2ζ s/ωn + 1
– Zero at s = −ασ.
– Poles at <e(s) = −σ.
• Large α, zero far from poles ➠ no effect.
• α ≈ 1, large effect.
• Notice that the overshoot goes up as α → 0.
2nd-order system with zero Overshoot versus normalized zero loc.
2 2
Percent overshoot
Step Response

1.5 1.5
ζ = 0.3
1 1
0.5
α=1 0.7
2
0.5 4 0.5

100
0 0
0 2 4 6 8 10 0 2 4 6 8 10
ωn t α

• A little more analysis; set ωn = 1

s/αζ + 1
H (s) = 2
s + 2ζ s + 1
1 1 s
= 2 +
s + 2ζ s + 1 αζ s 2 + 2ζ s + 1
= Ho (s) + Hd (s).

• Ho (s) is the original response, without the zero.

c 2006, Dr. Gregory L. Plett
Lecture notes prepared by & Copyright °
ECE2205, Second-Order RLC Circuit Analysis 9–9
• Hd (s) is the added term due to the zero. Notice that
1
Hd (s) = s Ho (s).
αζ
The time response is a scaled version of the derivative of the time
response of Ho (s).
• If any of the zeros in RHP, system is nonminimum phase.
2nd-order min-phase step resp. 2nd-order nonmin-phase step resp.
2 1.5

H (s) 1
1.5 Ho (s)
0.5
1 H (s)
y(t)

y(t)
Ho (s) 0
0.5
−0.5

0
Hd (s)
−1
Hd (s)
−0.5 −1.5
0 2 4 6 8 10 0 2 4 6 8 10
Time (sec) Time (sec)

Add a pole to a second order system

1
H (s) = .
(s/αζ ωn + 1)[(s/ωn )2 + 2ζ s/ωn + 1]
• Original poles at <e(s) = −σ = −ζ ωn . New pole at s = −αζ ωn .
• Major effect is an increase in rise time.
2nd-order system with pole Norm. rise time vs. norm. pole loc.
1.4 9

1.2 8
Step Response

7
1
ζ = 1.0
6
0.8 0.7
ωn tr

100 5
0.6
4
0.5
0.4
5
3
0.2
2
2

0
α=1 1
0 1 2 3 4 5 6 7 8 0 2 4 6 8 10
ωn t α

c 2006, Dr. Gregory L. Plett

Lecture notes prepared by & Copyright °
ECE2205, Second-Order RLC Circuit Analysis 9–10
Summary of Higher-Order Approximations

• Extra zero in LHP will increase overshoot if the zero is within a factor
of ≈ 4 from the real part of complex poles.
• Extra zero in RHP depresses overshoot, and may cause step
response to start in “wrong direction.” Delay.
• Extra pole in LHP increases rise-time if extra pole is within a factor of
≈ 4 from the real part of complex poles.

=m(s)
Unstable
Insignificant Dominant region
<e(s)

• M ATLAB’s ‘step’ and ‘impulse’ commands can plot higher order

system responses.

Example (1) of Series RLC Circuit—Find vc (t) (overdamped)

• Let vc (0) = 15 V, i L (0) = 0 A, R = 8.5 kÄ, L = 1 H, C = 0.25 µF,

vin(t) = Au(t).
• From our circuit solution, we know
1 R/s
Vc (s) = Vin (s) − i L (0)
LCs 2 + RCs + 1 LCs 2 + RCs + 1
RL RC + LCs
+ i L (0) + vc (0)
LCs 2 + RCs + 1 LCs 2 + RCs + 1
A RC + LCs
= + vc (0)
s(LCs 2 + RCs + 1) LCs 2 + RCs + 1
c 2006, Dr. Gregory L. Plett
Lecture notes prepared by & Copyright °
ECE2205, Second-Order RLC Circuit Analysis 9–11
A
=
s(0.25 × 10−6s 2 + 2.125 × 10−3s + 1)
15(2.125 × 10−3 + 0.25 × 10−6s)
+
0.25 × 10−6s 2 + 2.125 × 10−3s + 1
= V1(s) + V2(s).

• The first term has a pole at s = 0 and poles at s1 = −500 and

s2 = −8000. (overdamped)
• The second term has the overdamped pair of nonzero real poles.
• We can take the inverse Laplace transform to find vc (t) using
partial-fraction expansion
r1 r2 r3 r4 r5
Vc (s) = + + + +
s s + 500 s + 8000 s + 500 s + 8000
r1 = sV1(s)|s=0 = A
A/0.25 × 10−6 ¯¯
¯
16A
r2 = (s + 500)V1(s)|s=−500 = =−
s(s + 8000) ¯s=−500 15
A/0.25 × 10−6 ¯¯
¯
A
r3 = (s + 8000)V1(s)|s=−8000 = =
s(s + 500) ¯s=−8000 15
¯
15(8500 + s) ¯¯
r4 = (s + 500)V2(s)|s=−500 = = 16
s + 8000 ¯s=−500
¯
15(8500 + s) ¯¯
r5 = (s + 8000)V2(s)|s=−8000 = = −1.
s + 500 ¯
s=−8000

• Overall,
A 16(1 − A/15) 1 − A/15
Vc (s) = + −
s s + 500 s + 8000
vc (t) = A + 16(1 − A/15)e−500t − (1 − A/15)e−8000t u(t).
£ ¤

c 2006, Dr. Gregory L. Plett

Lecture notes prepared by & Copyright °
ECE2205, Second-Order RLC Circuit Analysis 9–12
SeriesRLC circuit: Example 1 with A=2
• Check answer at t = 0 16

vc (0) = A + 16(1 − A/15) − (1 − A/15) 14

12

= A − 16A/15 + A/15 + 16 − 1 10

vc(t)
8
= 15. 6

4
• Result is plotted to the right for 2

0
A = 2. 0 0.005 0.01 0.015
Time (sec)
0.02 0.025

Example (2) of Series RLC Circuit—Find vc (t) (critically damped)

• Let vc (0) = 15 V, i L (0) = 0 A, R = 4 kÄ, L = 1 H, C = 0.25 µF,

vin(t) = 0.
• From our circuit solution, with i L (0) and vin(s) substituted,
RC + LCs
Vc (s) = vc (0)
LCs 2 + RCs + 1
1 × 10−3 + 0.25 × 10−6s
= vc (0)
0.25 × 10−6s 2 + 1 × 10−3s + 1
4000 + s
= 2 vc (0).
s + 4000s + 4000000
• The poles are repeated in this case s1 = s2 = −2000.
• Partial-fraction expansion is
r1 r2
Vc (s) = +
(s + 2000)2 s + 2000
2
¯
r1 = (s + 2000) Vc (s)¯s=−2000 = (s + 4000)(15)|s=−2000 = 30000
d(s + 2000)2 Vc (s) ¯¯
· ¯ ¯
d(s + 4000)(15) ¯¯
r2 = = = 15.
ds ¯
s=−2000 ds ¯
s=−2000

• Therefore,
vc (t) = 15e−2000t + 30000te−2000t u(t).
£ ¤

c 2006, Dr. Gregory L. Plett

Lecture notes prepared by & Copyright °
ECE2205, Second-Order RLC Circuit Analysis 9–13
Series RLC circuit: Example 2
16

14

• Again, we verify that vc (0) = 15, as 12

10

expected.

v (t)
8

c
6

• Result is plotted to the right. 4

0
0 0.005 0.01 0.015 0.02 0.025
Time (sec)

Example (3) of Series RLC Circuit—Find vc (t) (underdamped)

• Let vc (0) = 15 V, i L (0) = 0 A, R = 1 kÄ, L = 1 H, C = 0.25 µF,

vin(t) = 0.
• From our circuit solution, with i L (0) and vin(s) substituted,
RC + LCs
Vc (s) = vc (0)
LCs 2 + RCs + 1
0.25 × 10−3 + 0.25 × 10−6s
= vc (0)
0.25 × 10−6 s 2 + 0.25 × 10−3 s + 1
15s + 15000
= 2 .
s + 1000s + 1000000
√
• The poles are s1,2 = −500 ± 500 3 j. So
r1 r1∗
Vc (s) = √ + √ ,
s + 500 + 500 3 j s + 500 − 500 3 j
√ − j π/6
and we find r1 = 7.5 − 4.33 j = (5 3)e .
Series RLC circuit: Example 3
16
14

• Therefore, 12

√ −500t √ 10
8
vc (t) = 10 3e cos(500 3t−π/6).
v (t)
c

6
4

• Again, we verify that vc (0) = 15. 2

0
−2
0 0.005 0.01 0.015 0.02 0.025
Time (sec)

c 2006, Dr. Gregory L. Plett

Lecture notes prepared by & Copyright °
ECE2205, Second-Order RLC Circuit Analysis 9–14
Parallel RLC Circuit
• Another important second-order
circuit is the parallel RLC network i in (t) ir (t) i L (t) i c (t)
shown to the right.
• Assuming general initial vc (0)/s
a
conditions, we redraw the
1
circuit to the right, in the Iin(s) R sL i L (0)/s
sC
Laplace domain.
• Applying KCL at a:
E a (s) − 0 E a (s) − 0 i L (0) (E a (s) − vc (0)/s) − 0
Iin(s) = + + +
R Ls s 1/(sC)
· ¸
1 1 i L (0)
= E a (s) + + sC + − Cvc (0)
R Ls s
· ¸
i L (0) RLs
E a (s) = Cvc (0) − + Iin(s) .
s RLCs 2 + Ls + R
• Given values of R, L, C, i L (0), and i in(t), we can solve this equation.
• Note that the denominator is of a different form than the series RLC
circuit, but we can still get underdamped, critically damped, and
overdamped performance.

The Next Step

• Having seen first- and second-order systems in the time- and

Laplace-domains, we move on to understanding more general
systems via the “transfer function”.

c 2006, Dr. Gregory L. Plett

Lecture notes prepared by & Copyright °
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