Linear Circuit Analysis


\(\setSection{1}\)1. Introduction

1.1 Preface

Linear Circuit Analysis is a core course in electrical engineering that most students need to take in the first year of their program. In fact, the course covers such fundamental topics that, most often, students from other engineering areas such as computer, industrial, power, or manufacturing engineering also need to take it as an introduction to electrical engineering.

This webbook is designed to be used by students to learn and solve problems on the CircuitsU website. The webbook is slightly different from other books or materials in linear circuit analysis that you can find online. First, the webbook is written in a concise manner to make students spend a minimum amount of time learning the different topics on linear circuits and be able to spend more time practicing problems on their own. For this reason, just by browsing the pages of the webbook might not be sufficient to master all the topics on linear circuits (like a regular textbook is supposed to do) and students might need to first look at the Sample Solved Problems sections that appears at the of most section, then, practice problems from the Practice Problems sections.

Second, the problems and examples that appear at the end of each section are generated randomly when the page is loaded, so students can look over and practice as many problems as they want. Since the webbook was written specifically for this website, you need to be logged in order to take advantage of the full set of examples and problems that appear in the webbook.

This webbook and the problems that CircuitsU can generate automatically, cover most topics in the Linear Circuit Analysis course taught in undergraduate programs in the U.S. and is organized relatively close to the existing textbooks on linear circuits. Therefore, the instructors can use CircuitsU to teach and assign homework problems in linear circuits.

Finally, please keep in mind that this webbook is still under construction. You might find typos or unfinished sections.

1.2 Topics convered in CircuitsU

Below is the list of chapters, for which CircuitsU can generate random problems. The instructor can re-organize the content of the chapters and topics covered in each chapter, and change the type, difficulty, and number of homework problems that the site will generate in each homework assignment. The instructor can also build homework assignments covering problems from different chapters (for instance, to design a midterm or a final exam).

Chapter 1 is an introduction to electric components and circuit diagrams and is the homework associated with it is usually assigned in the first week of classes for students to get used with the website. Chapters 2-9 focus on DC circuits; chapters 10-21 focus on AC circuits; chapters 22-27 focus on Laplace transforms and first and second-order transient circuits. These homework assignments cover most of the topics that are usually covered in a college-level, introductory course on linear circuit analysis. For instance, if the Linear Circuit Analysis course is taught as a:

  • year-long course sequence: most topics could be covered throughout the course
  • two-semester course sequence: chapters 1-16 could be offered during the first semester and chapters 17-26 are offered during the second semester
  • three-quarter course sequence: chapters 1-9 could be offered during the first quarter, chapters 10-17 are offered during the second quarter, and chapters 18-26 are offered in the third quarter
Some chapters and the corresponding recommended homework assignments, such as superposition methods, operational amplifiers, or Bode plots can be omitted without any loss of continuity.

Types of problems
CircuitsU can generate a large range of problems such as:
  • General problems, in which students need to answer simple questions such as identifing different components in a circuit, or series and parallel connections.
  • Numerical problems, (ℕ), in which the known variables in the problem are given numerically and students need to compute the shought variable or variables numerically.
  • Analytical problems, (Ⓐ), in which the known variables are given symbolically and the students need to compute the analytically.
  • Design problems, (ⅅ), in which students need to comptute specific elements in a circuit in order for some conditions to be satisfied (e.g. what are the values of specific resistors such that the gain of an amplifier to be equal to 10).
The instructor has much flexibility in selected the number, type, and difficulty of problems in each chapter.

1. Nodes and loops, series and parallel connections

  • Identify resistors, capacitors, inductors, voltage and current sources in electric circuit diagrams
  • Identify nodes and loops in electric circuits
  • Identify series and parallel connections

2. R, L, C combinations

  • Compute the equivalent resistance of a resistor network
  • Compute the equivalent capacitance/inductance of a network of capacitors/inductors

3. Simple circuits

  • Use KVL and KCL to analyze single loop and single node-pair circuits
  • Use voltage and current division to solve simple circuits
  • Compute the power generated/dissipated by a component

4. DC nodal analysis

  • Write and solve the system of nodal equations in DC circuits
  • Compute DC currents, voltages, and powers using nodal analysis
  • Use nodal analysis to solve design problems

5. DC mesh analysis

  • Write and solve the system of mesh equations in DC circuits
  • Compute DC currents, voltages, and powers using mesh analysis
  • Use mesh analysis to solve design problems

6. DC superposition

  • Analyze DC circuits using the method of superposition

7. DC source transformation

  • Use source transformation to compute currents, voltages and powers in DC circuits

8. DC Norton and Thévenin equivalent circuits

  • Compute the Norton and Thévenin equivalent circuits of a DC network
  • Simplify DC circuits by making successive source transformations

9. Operational amplifiers (DC)

  • Analyze DC circuits with ideal OpAmps
  • Analyze DC circuits with real OpAmps (in which $A$, $R_{in}$ and/or $R_{out}$ are nonzero and finite

10. Impedance simplification (AC)

  • Compute the equivalent (complex) impedance of a network containing resistors, capacitors and inductors

11. AC nodal analysis

  • Write and solve the system of nodal equations in AC circuits
  • Compute AC currents and voltages using nodal analysis

12. AC mesh analysis

  • Write and solve the system of mesh equations in AC circuits
  • Compute AC currents and voltages using mesh analysis

13. AC superposition

  • Analyze AC circuits using the method of superposition

14. AC source transformation

  • Use source transformation to compute currents and voltages in AC circuits

15. AC Norton and Thévenin equivalent circuits

  • Compute the Norton and Thévenin equivalent circuits of an AC network
  • Simplify AC circuits by making successive source transformations

16. Operational amplifiers (AC)

  • Analyze AC circuits with ideal OpAmps

17. AC power analysis

  • Calculate instantaneous and average power in AC circuits
  • Calculate real power, reactive power, complex power, and power factor in AC circuits
  • Find maximum power transfer

18. Magnetically coupled networks

  • Solve problems with magnetically coupled inductors
  • Solve problems with ideal transformers
  • To be implemented in Spring 2024

19. Polyphase circuits

  • Three phase circuits
  • Not yet implemented

20. Two-port networks

  • Calculate the admittance ($y$), impedance ($z$), hybrid ($h$ and $g$), and transmission ($t$ and $t'$) parameters for two-port networks
  • Convert from one type of network parameters to another type (e.g. $y$-parameters to $z$-parameters,...)

21. Frequency Selective Circuits

  • Compute voltage gain ($G_v$), current gain ($G_i$), transimpedance ($Z$), and transadmittance ($Y$) of AC filters
  • Compute the transfer function from a given Bode plot
  • Draw the straight-line Bode magnitude plot for a specific transfer function
  • Compute the resonant frequency, bandwidth, quality factor, half-power frequencies etc. in RLC circuits

22. Laplace transforms

  • Compute the direct and inverse Laplace transforms of different functions using the linearity of Laplace transforms, time-shifting, frequency shifting, etc.

23. Laplace impedance simplification

  • Transform a circuit from time domain to s-domain
  • Compute the impedance of a circuit in the s-domain

24. First-order transient circuits

  • Compute time-dependent currents and voltages in first-order transient circuits using:
    1) the time relaxation approach (aka step-by-step approach)
    2) the Laplace transform method
    3) the method of integro-differential equations (for nodal and mesh analysis)

25. Second-order transient circuits

  • Compute time-dependent currents and voltages in second-order transient circuits using:
    1) the Laplace transform method
    2) the method of integro-differential equations (nodal and mesh) analysis

26. Other applications of Laplace transforms

  • Superposition in the s-domain
  • Source transformation in the s-domain
  • Norton and Thévenin equivalent circuits in the s-domain
  • Higher-order transient circuits

1.3 Assignments by chapter

Below are the recommended assignments (HW1-HW31) that are generated by default when the instructor creates a new Linear Circuit Analysis course and choses Selected HW assignments by chapter (32 assignments).

Module number HW number HW Description
Module 1 Series/Parallel HW 1 Identify R, L, C, voltage and current sources, nodes, and loops, series and parallel connections.
Module 2 Resistor simplification HW 2 Simplify a network of resistors using series and parallel transformations.
Module 3 L/C simplification HW 3 Simplify networks of capacitors and inductors using series and parallel transformations.
Module 4 Simple circuits HW 4 Compute currents, voltages, and powers (dissipated and generated) in simple networks using KVL, KCL, current and voltage division.
Module 5 DC nodal analysis (eqs.) HW 5 Write the system of nodal analysis equations (but do not solve it).
Module 6 DC nodal analysis (num.) HW 6 Write and solve the system of nodal analysis equations to compute currents, voltages and powers.
Module 7 DC mesh analysis (eqs.) HW 7 Write the system of mesh analysis equations (but do not solve it).
Module 8 DC mesh analysis (num.) HW 8 Write and solve the system of mesh analysis equations to compute currents, voltages and powers.
Module 9 DC superposition HW 9 Use the superposition method to compute currents and voltages in electric networks.
Module 10 DC Source transformation HW 10 Simplify a circuit using successive source transformations.
Module 11 DC Norton/Thévenin HW 11 Compute the Norton and Thévenin equivalent circuits or DC networks.
Module 12 DC OpAmps HW 12 Analyze circuits containing one or more operational amplifiers.
Module 13 Impedance simplification HW 13 Compute the effective impedance of an AC network of R, L, and C using series and parallel combinations.
Module 14 AC nodal analysis HW 14 Compute currents and voltages in AC circuits using nodal analysis.
Module 15 AC mesh analysis HW 15 Compute currents and voltages in AC circuits using mesh analysis.
Module 16 AC superposition HW 16 Use the superposition method to compute currents and voltages in AC circuits.
Module 17 AC Source transformation HW 17 Simplify an AC circuit using successive source transformations.
Module 18 AC Norton/Thévenin HW 18 Compute the Norton and Thévenin equivalent circuits or AC networks.
Module 19 AC OpAmps HW 19 Single OpAmp inverters and followers containing AC sources, resistors, inductors, and capacitors.
Module 20 AC power HW 20 Compute real power, reactive power, complex power, and power factor in AC circuits.
Module 21 AC maximum power transfer HW 21 Compute maximum power transferred in AC circuits; AC power factor correction.
Module 22 First-order transient circuits HW 22 Use the time relaxation approach to compute current and voltages in first-order transient circuits.
Module 23 ODE nodal analysis (eqs.) HW 23 Write the system of nodal analysis ODEs for first, second and higher-order transient circuits (zero and non-zero initial conditions).
Module 24 ODE mesh analysis (eqs.) HW 24 Write the system of mesh analysis ODEs for first, second and higher-order transient circuits (zero and non-zero initial conditions).
Module 25 Laplace transforms HW 25 Compute the direct Laplace transform of various functions.
Module 26 Inverse Laplace transforms HW 26 Compute the inverse Laplace transform of various functions.
Module 27 Laplace impedance simplification HW 27 Tranform a circuit to s-domain and compute its equivalent s-domain impedance.
Module 28 Laplace nodal analysis (num.) HW 28 Convert circuits to s-domain, then write and solve the system of nodal analysis equations for first and second-order transient circuits (zero initial conditions).
Module 29 Laplace mesh analysis (num.) HW 29 Convert circuits to s-domain, then write and solve the system of mesh analysis equations for first and second-order transient circuits (zero initial conditions).
Module 30 Laplace analysis (num.) HW 30 Source transformations, Norton/Thévenin equivalent circuits and superposition in the s-domain (zero initial conditions).
Module 31 Two-port networks HW 31 Compute y, z, h, and t parameters of DC and AC two-port networks.
Module 32 Bode plots HW 32 Derive transfer function from a Bode magnitude plot and draw the Bode magnitude plot of a transfer function.

1.4 2-Semester Courseplan

Semester 1

Below are the recommended assignments (HW1-HW17) that are generated by default when the instructor creates a new Linear Circuit Analysis course and choses Semester 1 in a 2-semester course. The table shows the proposed due dates for each HW set but each instructor can set his or her own time schedule. The instructor can also re-organize the content and change the type, difficulty, and number of homework problems in each set.

Week numbera HW number HW Assignment numberb Due Description
Week 1 Series/Parallel HW 1 1 End of 2nd week Identify R, L, C, voltage and current sources, nodes, and loops, series and parallel connections.
Week 2 Resistor simplification HW 2 1 End of 2nd week Simplify a network of resistors using series and parallel transformations.
Week 2 L/C simplification HW 3 1 End of 2nd week Simplify networks of capacitors and inductors using series and parallel transformations.
Week 3 Simple circuits (I) HW 4 2 End of 3rd week Compute currents, voltages, and powers (dissipated and generated) in circuits with one source and one resistor.
Week 4 Simple circuits (II) HW 5 3 Beginnig of 5th week Compute currents, voltages, and powers in circuits with 3 or more components, using KVL, KCL, resistor simplifications, current and voltage division.
Week 4 DC nodal analysis (eqs.) HW 6 3 Beginnig of 5th week Write the system of nodal analysis equations (but do not solve it).
Week 5 DC nodal analysis (num.) HW 7 4 End of 6th week Write and solve the system of nodal analysis equations to compute currents, voltages and powers.
Week 5 DC mesh analysis (eqs.) HW 8 4 End of 6th week Write the system of mesh analysis equations (but do not solve it).
Week 6 Midterm 1
Week 7 DC mesh analysis (num.) HW 9 5 End of 8th week Write and solve the system of mesh analysis equations to compute currents, voltages and powers.
Week 7 DC superposition HW 10 6 Begining of 10th week Use the superposition method to compute currents and voltages in electric networks.
Week 8 DC Source transformation HW 11 6 Begining of 10th week Simplify a circuit using successive source transformations.
Week 9 DC Norton/Thévenin HW 12 7 Begining of 11th week Compute the Norton and Thévenin equivalent circuits or DC networks.
Week 10 DC OpAmps HW 13 8 Beginnig of 12th week Analyze circuits containing one or more operational amplifiers.
Week 11 Impedance simplification HW 14 9 Beginnig of 13h week Compute the effective impedance of an AC network of R, L, and C using series and parallel combinations.
Week 12 AC nodal analysis HW 15 10 Beginnig of 14th week Compute currents and voltages in AC circuits using nodal analysis.
Week 14 Midterm 2
Week 13 AC mesh analysis HW 16 11 End of 15th week Compute currents and voltages in AC circuits using mesh analysis.
Week 15 AC analysis HW 17 12 End of 16th week Use superposition, Norton and Thévenin, and other AC analysis techniques (including time-domain/complex transformations) to solve AC problems.
Week 15 Review
Week 16 Final exam
Single OpAmp inverters and followers containing AC sources, resistors, inductors, and capacitors.

aThe week when the topic is covered.

bHomeworks that have the same assignment number have the same deadlines. For instance, Assignment number 1 containts HW1, HW2, and HW3, which are all due at the end of the second week of classes.

Semester 2

Below are the recommended assignments (HW1-HW11) that are generated by default when the instructor creates a new Linear Circuit Analysis course and choses Semester 2 in a 2-semester course.

Week number HW number HW Assignment number Due Description
Week 1 AC power HW 1 1 End of 2nd week Compute real power, reactive power, complex power, and power factor in AC circuits.
Week 2 AC maximum power transfer HW 2 2 End of 3rd week Compute maximum power transferred in AC circuits; AC power factor correction.
Week 3 First-order transient circuits HW 3 3 End of 4th week Use the time relaxation approach to compute current and voltages in first-order transient circuits.
Week 4 ODE nodal analysis (eqs.) HW 4 4 Beginning of 6th week Write the system of nodal analysis ODEs for first, second and higher-order transient circuits (zero and non-zero initial conditions).
Week 5 ODE mesh analysis (eqs.) HW 5 5 Beginning of 6th week Write the system of mesh analysis ODEs for first, second and higher-order transient circuits (zero and non-zero initial conditions).
Week 6 Midterm 1
Week 7 Laplace transforms HW 6 6 Beginning of 8th week Compute the direct Laplace transform of various functions.
Week 7 Inverse Laplace transforms HW 7 7 End of 8th week Compute the inverse Laplace transform of various functions.
Week 8 Laplace impedance simplification HW 8 8 Beginning of 9th week Transform a circuit to s-domain and compute its equivalent s-domain impedance.
Week 9 Laplace transform nodal analysis (num.) HW 9 9 End of 10th week Convert circuits to s-domain, then write and solve the system of nodal analysis equations for first and second-order transient circuits (zero initial conditions).
Week 10 Laplace transform mesh analysis (num.) HW 10 9 End of 10th week Convert circuits to s-domain, then write and solve the system of mesh analysis equations for first and second-order transient circuits (zero initial conditions).
Week 11 Laplace analysis (num.) HW 11 10 Beginning of 11th week Source transformations, Norton/Thévenin equivalent circuits and superposition in the s-domain (zero initial conditions).
Week 12 Midterm 2
Week 13 Magnetically coupled systems NYI 11 Beginning of 14th week
Week 14 Two-port networks NYI 12 Beginning of 15th week
Week 15 Three-phase systems NYI 13 End of 16th week
Week 15 Review
Week 16 Final exam
Compute y, z, h, and t parameters of DC and AC two-port networks.
Derive transfer function from a Bode magnitude plot and draw the Bode magnitude plot of a transfer function.

1.5 3-Quarter Courseplan

Quarter 1

Below are the recommended assignments (HW1-HW11) that are generated by default when the instructor creates a new Linear Circuit Analysis course and choses Quarter 1 in a 3-quarter course. The table shows the proposed due dates for each HW set but each instructor can set his or her own time schedule. The instructor can also re-organize the content and change the type, difficulty, and number of homework problems in each set.

Week numbera HW number HW Assignment numberb Due Description
Week 1 Series/Parallel HW 1 1 End of 2nd week Identify R, L, C, voltage and current sources, nodes, and loops, series and parallel connections.
Week 2 Resistor simplification HW 2 1 End of 2nd week Simplify a network of resistors using series and parallel transformations.
Week 3 Simple circuits (I) HW 3 2 End of 3rd week Compute currents, voltages, and powers (dissipated and generated) in circuits with one source and one resistor.
Week 4 Simple circuits (II) HW 4 3 End of 4th week Compute currents, voltages, and powers in circuits with 3 or more components, using KVL, KCL, resistor simplifications, current and voltage division.
Week 4 DC nodal analysis (eqs.) HW 5 3 End of 4th week Write the system of nodal analysis equations (but do not solve it).
Week 5 DC nodal analysis (num.) HW 6 4 Beginning of 6th week Write and solve the system of nodal analysis equations to compute currents, voltages and powers.
Week 5 DC mesh analysis (eqs.) HW 7 4 Beginning of 6th week Write the system of mesh analysis equations (but do not solve it).
Week 6 Review session or optional midterm
Week 7 DC mesh analysis (num.) HW 8 5 Beginning of 8th week Write and solve the system of mesh analysis equations to compute currents, voltages and powers.
Week 7 DC superposition HW 9 6 Beginning of 9th week Use the superposition method to compute currents and voltages in DC networks.
Week 8 DC Source transformation HW 10 6 Begining of 9th week Simplify a circuit using successive source transformations.
Week 9 DC Norton/Thévenin HW 11 7 Beginning of 10th week Compute the Norton and Thévenin equivalent circuits or DC networks.
Week 10 Final exam
Analyze circuits containing one or more operational amplifiers.

aThe week when the topic is covered.

bHomeworks that have the same assignment number have the same deadlines. For instance, Assignment number 1 containts HW1, HW2, and HW3, which are all due at the end of the second week of classes.

Quarter 2

Below are the recommended assignments (HW1-HW10) that are generated by default when the instructor creates a new Linear Circuit Analysis course and choses Quarter 2 in a 3-quarter course.

Week number HW number HW Assignment number Due Description
Week 1 L/C simplification HW 1 1 End of 2nd week Simplify networks of capacitors and inductors using series and parallel transformations.
Week 2 Impedance simplification HW 2 1 End of 2nd week Compute the effective impedance of an AC network of R, L, and C using series and parallel combinations.
Week 2 AC nodal analysis HW 3 2 Beginnig of 4th week Write the system of nodal analysis equations (but do not solve it).
Week 3 AC nodal analysis HW 4 3 Beginnig of 4th week Write and solve the system of nodal analysis equations compute currents and voltages.
Week 4 AC mesh analysis HW 5 3 End of 5th week Write the system of mesh analysis equations (but do not solve it).
Week 5 AC mesh analysis HW 6 4 End of 5th week Write and solve the system of mesh analysis equations to compute currents and voltages.
Week 6 Review session or optional midterm
Week 7 AC superposition HW 7 4 End of 7th week Use the superposition method to compute currents and voltages in DC networks
Week 8 AC Norton/Thévenin HW 8 5 End of 8th week Compute the Norton and Thévenin equivalent circuits or AC networks.
Week 9 AC analysis HW 9 6 End of 9th week Use a.c techniques to solve general AC circuits.
Week 9 AC OpAmps HW 10 7 End of 10th week Single OpAmp inverters and followers containing AC sources, resistors, inductors, and capacitors.
Week 10 Final exam
Compute y, z, h, and t parameters of DC and AC two-port networks.
Derive transfer function from a Bode magnitude plot and draw the Bode magnitude plot of a transfer function.
Quarter 3

Below are the recommended assignments (HW1-HW10) that are generated by default when the instructor creates a new Linear Circuit Analysis course and choses Quarter 3 in a 3-quarter course.

Week number HW number HW Assignment number Due Description
Week 1 AC power HW 1 1 End of 2nd week Compute real power, reactive power, complex power, and power factor in AC circuits.
Week 1 AC maximum power transfer HW 2 2 End of 2rd week Compute maximum power transferred in AC circuits; AC power factor correction.
Week 2 Laplace transforms HW 3 3 End of 3th week Compute the direct Laplace transform of various functions.
Week 3 Inverse Laplace transforms HW 4 4 Beginning of 4th week Compute the inverse Laplace transform of various functions.
Week 5 First-order transient circuits HW 6 6 Beginning of 6th week Use the time relaxation approach to compute current and voltages in first-order transient circuits.
Week 4 Review session or optional midterm
Week 5 ODE nodal analysis (eqs.) HW 7 7 Beginning of 6th week Write the system of nodal analysis ODEs for first, second and higher-order transient circuits (zero and non-zero initial conditions).
Week 6 ODE mesh analysis (eqs.) HW 8 8 Beginning of 7th week Write the system of mesh analysis ODEs for first, second and higher-order transient circuits (zero and non-zero initial conditions).
Week 4 Laplace impedance simplification HW 5 5 Beginning of 4th week Tranform a circuit to s-domain and compute its equivalent s-domain impedance.
Week 6 Laplace transform nodal analysis (num.) HW 9 9 End of 7th week Convert circuits to s-domain, then write and solve the system of nodal analysis equations for first and second-order transient circuits (zero initial conditions).
Week 6 Laplace transform mesh analysis (num.) HW 10 9 End of 7th week Convert circuits to s-domain, then write and solve the system of mesh analysis equations for first and second-order transient circuits (zero initial conditions).
Week 7 Laplace analysis (num.) HW 11 10 Beginning of 8th week Source transformations, Norton/Thévenin equivalent circuits and superposition in the s-domain (zero initial conditions).
Week 8 Magnetically coupled systems NYI 11 Beginning of 9th week
Week 8 Two-port networks NYI 12 End of 9th week
Week 9 Three-phase systems NYI 13 End of 9th week
Week 10 Final exam

1.6 Notations

This webbook and CircuitsU use the following notations:

$I$, $V$, $P_d$, and $P_g$DC currents, voltages, and powers are denoted by with capital letter
$I$, $V$, $P_d$, and $P_g$currents, voltages, and powers in the frequnecy (complex) and s-domains are denoted with capital letter*
$I(t)$, $V(t)$, $P_d(t)$, and $P_g(t)$time-dependent currents, voltages, and powers are usually shown as functions of time
$I(t)=I_0 \cos(\omega t+\phi)$
$V(t)=V_0\sin(\omega t+\phi)$
AC currents
AC voltages
$v_1$, $v_2$,...nodal potentials (real, complex, or in the s-domain) are written in lowercases
$i_1$, $i_2$,...mesh currents (real, complex, or in the s-domain) are written in lowercases
$v_1(t)$, $v_2(t)$,...nodal potentials in time-domain
$i_1(t)$, $i_2(t)$,...mesh currents in time-domain
$\textcolor{blue}{j}$imaginary number $j=\sqrt{-1}$
$\textcolor{blue}{s}$complex frequency used in Laplace transforms

*A better notation, which is often used in textbooks, is to use bold letters for complex variables ($\boldsymbol{I}$, $\boldsymbol{V}$, $\boldsymbol{P_d}$, and $\boldsymbol{P_g}$) however, due to limitations in SVG graphic fonts we are representing them with regular fonts on this website.

Subscripts
$0$denotes sought variables (e.g. $V_0$, $I_0$)
$eff$effective (e.g. $R_{eff}$, $L_{eff}$,...)
$rms$root-mean square (e.g. $V_{rms}$, $I_{rms}$)
$d$dissipated (e.g. $P_d$)
$g$generated (e.g. $P_g$)
$N$Norton
$Th$Thévenin
$1$, $2$, ... used for mesh currents (e.g. $i_1$, $i_2$,...), nodal potentials (e.g. $v_1$, $v_2$,...), components (e.g. $R_1$, $L_1$, $C_1$, $V_1$, $I_1$,...)
$x$, $y$, ...used for control variables (e.g. $I_x$, $V_y$,...)
Abbreviations
AC alternative current
DC direct current
KCL Kirchhoff's current law
KVL Kirchhoff's voltage law
OpAmp operational amplifier
TD time-dependent
Units

All variables are assumed to be expressed in the International System of Units in CircuitsU. Therefore, to simplify notations, CircuitsU will usually not write the units in mathematical expressions unless it is a final answer.

Units are written with gray characters in CircuitsU. For instance: $V_1 = 2.4 \: {\textcolor{gray}V}$, $R = \frac{2.4 \: {\textcolor{gray}V}}{1.2 \: {\textcolor{gray}A}} =2 \: {\textcolor{gray}Ω}$.


\(\setSection{2}\)2. Basic Concepts

2.1 Electric charge ($Q$)

Electric charge (called charge from now on) is a concept defined rigorously in electrostatics in terms of the properties that matter exhibits when placed in an electromagnetic field. The movement of charge results in electric current. The SI unit of charge is the coulomb (C), which is equal to the negative the charge of approximately $\frac{1}{1.602\times10^{-19}}~=6.24\times10^{18}$ electrons.

2.2 Electric current ($I$)

An electric current is a stream of charged particles, such as electrons or ions, moving through a region in space. The moving particles are called charge carriers, which, in the case of electric circuits, are electrons moving through an electron conductive material (usually wire or component). The SI unit of electric current is the ampere or amp, which is the flow of electric charge across a surface at the rate of one coulomb per second. Electric current is measured using ammeters.

The conventional symbol for current is $I$ (see Fig. 2.1), which originates from the French phrase intensité du courant, (current intensity). The $I$ symbol was first used by André-Marie Ampère, after whom the unit of electric current is named.

+ V I R
Fig. 2.1 Representing current on a circuit diagram.

A current in a wire can flow in either of two directions. When defining a variable $I$ to represent the current, the direction representing positive current must be specified, usually by an arrow on the circuit schematic diagram. This is reference direction of the current. When analyzing electrical circuits, the actual direction of current through a specific circuit element is usually unknown until the analysis is completed. Consequently, the reference directions of currents are often assigned arbitrarily. When the circuit is solved, a negative value for the current implies that the actual direction of current through that wire is opposite that of the chosen reference direction.

2.3 Electric potential ($V$)

The electric potential, also known as electrostatic potential (or, in this webbook, potential), is a concept defined rigorously in electrostatics in terms of the amount of work energy needed to move a unit of electric charge from a reference point to the specific point (often taken at infinity) in an electric field. In the case of electric circuits the reference point is the ground node.

The SI unit of electric potential is the volt (V).

Notice that the electric potential is defined at a single point in space. In elecric circuits, the electric potential is defined at each node; note that this definition is not ambiguous because the potential of an ideal wire or a collection of wires connected to each other (all wires in this course will be assumed ideal) is the same at all points of the wires.

2.4 Voltage ($V$)

Voltage, also known as (electric) potential difference, is the difference in electric potential between two points in space. Notice that, the voltage is always measured with respect to two points (or nodes in an electric circuit) and, since it is the difference between two electic potentials, its SI unit is the volt (V). If the two points are denoted by $A$ and $B$, we have $$\begin{equation}V_{AB}=-V_{BA}\end{equation}$$ If the potential of node A is $V_A$ and the potential of node B is $V_B$, we have $$\begin{equation}V_{AB}=V_{A}-V_{B}\end{equation}$$ To simplify the notations on circuit diagrams, we often denote point $A$ (the first point) with $+$ and point $B$ (the second point) with $-$ (see Fig. 2.1). In this case, voltage $V$ is understood to be the voltage from the node denoted with $+$ to the node denoted with $-$.

2.5 Linear Circuits

Linear circuits are circuits that contain linear components such as resistors, capacitors, inductors, ideal voltage and current sources, transformers, operational amplifiers, etc. Table 2.1 from the Linear components section presents a list of linear components together with their current-voltage characteristics. The current-voltage characteristics completely define the component for an electrical standpoint and, once these characteristics are measured for a particlar device, one can completely predict how that device will behave in a more complex electric circuit. Notice here that, in this course, we are focussing only on ideal components that do not break at higher voltages (in which case they would be considered non-linear).

Linear components of linear devices are those devices that have linear current-voltage characteristics. Intuitively, the current-voltage characteristic of a device is linear if it can be represented graphically by straight line on a current-voltage $V(I)$ or voltage-current $I(V)$ plot. Mathematically, a component is linear if $$\begin{equation} V(aI_1+bI_2)=aV(I_1)+bV(I_2) \end{equation}$$ or $$\begin{equation} I(aV_1+bV_2)=aI(V_1)+bI(V_2) \end{equation}$$ where $a$ and $b$ are any real constants. It turns out that the analysis of linear circuits requires solving linear systems of equations, which can be algebraic equations with real or complex coefficients or linear ordinary differential equations. Linear equations are generally much easier to solve than systems of nonlinear equations that appear in the case of nonlinear circuits.

Nonlinear circuits are circuits that contain at least one nonlinear component, which is a component in which the current-voltage characteristic is nonlinear. Examples of nonlinear components are diodes, transistors, and nonlinear sensors or actuators. Most often, real (practical) linear components such as voltage and current sources, resistors, transformers, etc. can be treated as linear on a small range of applied voltages and currents and they can become nonlinear if we increase this range. Nonlinear circuits can also be analyzed unsing Kirchhoff's laws, however, they will lead to systems of nonlinear equations that are usually more difficult to solve than systems of linear equations.

Importance

Linear circuits are important because they do not distort the input signal. For this reason they can be used as amplifiers, voltage or current reduction, linear sensors, etc.

Linear circuits are also easier to understand and analyze. Since they are linear, these circuits can be described by linear algebraic or differential equations, which are relatively easy to solve.

2.6 Linear components (devices)

Table 2.1 shows a list of linear components (also called devices or elements) used in linear circuit analysis. All the components (and, implicitly, their current-voltage characteristics) are assumed to be ideal.

Table 2.1 Common electric components used in linear circuits.
Name/Unit Symbol Description
Resistor
Ohms, $Ω$
+ V I R A resistor is a 2-terminal device that satisfies Ohm's law:$$\begin{equation}V(t)=I(t)R\end{equation}$$ where $R$ is the resistance and $V(t)$ is the voltage from the terminal where current $I(t)$ is assumed to enter the resistor to the terminal where the current is assumed to exit the resistor. In the case of DC circuits (i.e. when the voltage and current do not depend on time) the above equation is usually written as $V=IR$, where $V$ and $I$ are the DC values of the voltage and current. In the case of AC circuits (in frequency domain) the Ohm's law remains the same, but $V$ and $I$ are the complex values of the voltage and current.
Capacitor
Faradays, $F$
+ V I C A capacitor is a 2-terminal device in which the current and voltage satisfy the following equation $$\begin{equation}I(t)=C\dfrac{V(t)}{dt}\end{equation}$$ where $C$ is the capacitance (see figure for notations). In frequency domain (AC analysis) this equation becomes $$\begin{equation}I=\frac{V}{j{\omega}C}\end{equation}$$ where $I$ and $V$ are the complex values of the current and voltage and $\omega$ is the angular frequency of the AC signal (the above equation is equivalent to Ohm's law).
Inductor
Henries, $H$
+ V I L An inductor is a 2-terminal device in which the current and voltage satisfy the following equation $$\begin{equation}V(t)=L\dfrac{I(t)}{dt}\end{equation}$$ where $L$ is the inductance (see figure for notations). In frequency domain (AC analysis) this equation becomes $$\begin{equation}V=j{\omega}L I\end{equation}$$ where $I$ and $V$ are the complex values of the current and voltage and $\omega$ is the angular frequency of the AC signal (the above equation is equivalent to Ohm's law).
Impedance
Ohms, $Ω$
+ V I Z An impedance is a 2-terminal device that is defined for the frequency domain (i.e. in AC circuits) and in which the complex current and complex voltage satisfy the following equation $$\begin{equation}V=Z I\end{equation}$$ where $Z$ is the (complex) impendace (see figure for notations). Notice that the same symbol (rectangle) is sometimes used to represent a "black" box, which is an electronic component with two terminals that can contain a combinations of resistors, inductors, capacitors, sources, etc.
Voltage source (independent)
Volts, $V$
I V An independent voltage source is a 2-terminal device in which the voltage from the positive to the negative terminals is equal to $V$.
Current source (independent)
Amperes, $A$
+ V I An independent current source is a 2-terminal device in which the current flowing in the direction of the arrow is equal to $I$.
Dependent voltage source
Volts, $V$
I Vx A dependent voltage source is a 2-terminal device in which the voltage from the positive to the negative terminals is equal to the value indicated ($V_x$ in this case), which can depend on other currents and voltages in circuit.
Dependent current source
Amperes, $A$
+ V Ix A dependent current source is a 2-terminal device in which the current flowing in the direction of the arrow is equal to the value indicated ($I_x$ in this case), which can depend on other currents and voltages in circuit.

2.7 Loops (meshes)

A loop (or mesh is any closed path through the circuit in which nodes appear at most once. Meshes are defined in planar circuits, which are circuits that can be drawn on a plane surface with no wires crossing each other. Loops are slightly more general and can be applied to any circuit, planar or not. Since all the electric circuits that appear on this website are planar we will use mesh and loop interchangeably.

The outside mesh of a circuit is the largest mesh in the circuit; a minor mesh (also called essential mesh) is a mesh that does not contain any other meshes.

A circuit can have multiple loops (or meshes). For instance, the circuit shown in Fig. 2.2 has 3 minor meshes labeled $i_1$, $i_2$, and $i_3$ and the outside mesh. Since, we are almost always interested only in the minor meshes and the outside mesh, we will simply say that that the circuit below contains 3 meshes (or 3 loops) plus the outside mesh (or outside loop).

V1 R1 R2 L1 I1 C1 R3 i1 i2 i3
Fig. 2.2 Example of a circuit with 5 loops (meshes).

Loops and meshes are made of branches.

Any circuit should contain at least 1 mesh. When the circuit contains only 1 mesh (excluding the outside mesh), it is called single loop circuit (see Fig. 2.3).

V1 R1 R2 R3 i1
Fig. 2.3 Example of a single loop circuit.

Mesh analysis is a method based on Kirchhoff’s Voltage Law (KVL) that can be used to analyze planar electric circuits. Loop analysis is slightly more general and can be applied to non-planar circuits. Mesh analysis is usually easier to use than loop analysis because the circuit is planar. However, notice again that, since the electric circuits on this site are planar, we will use mesh analysis and loop analysis interchangeably.

2.8 Nodes

A node is a collection of wires that are connected to each other. A circuit can have multiple nodes. For instance, the circuit shown in Fig. 2.4 has 5 nodes labeled $v_1$, $v_2$, $v_3$, $v_4$, and $v_5$.

V1 R1 R2 L1 I1 C1 v1 v2 v3 v4 v5
Fig. 2.4 Example of a circuit with 5 nodes.

Sometimes, one of the nodes is called the ground node. For instance, the circuits showed in Fig. 2.5 and Fig. 2.6 contain 4 nodes labeled $v_1$, $v_2$, $v_3$, and $v_4$, and the ground node (5 nodes in total). Notice that the two circuits have the same topology and will have the same solution.

V1 R1 R2 L1 I1 C1 v2 v3 v1 v4
Fig. 2.5 Example of a circuit with 5 nodes, one being the ground node. Notice that this circuit is equivalent to the one in Fig. 2.4.
V1 R1 R2 L1 I1 C1 v2 v3 v1 v4
Fig. 2.6 Example of a circuit with 5 nodes, one being the ground node. Notice that this circuit is equivalent to the ones in Fig. 2.4 and Fig. 2.5.

Any circuit should contain at least 2 nodes (see Fig. 2.7). When the circuit contains only 2 nodes, it is called a single node-pair circuit.

C1 R1 V1 v1 v2
Fig. 2.7 Example of a circuit with a single node-pair.

Nodal analysis is a method based on Kirchhoff’s Current Law (KCL) that can be used to analyze electric circuits.

2.9 Series Connections

Two or more components (each with two terminals) are connected in series when they are part of the same two minor meshes, or, to one minor mesh and the outside mesh. For instance, in Fig. 2.8:

  • Voltage source $V_1$ and resistor $R_1$ are connected in series because they both belong to minor mesh $i_1$ and the outside mesh.
  • Current source $I_1$ and capacitor $C_1$ are connected in series because they both belong to minor mesh $i_3$ and the outside mesh.
  • However, resistor $R_3$ and inductor $L_1$ are not connected in series because they belong to different pair of minor meshes (resistor $R_3$ belongs to $i_1$ and $i_2$, while inductor $L_1$ belongs to the outside mesh and $i_2$.
V1 R1 R2 L1 I1 C1 R3 v1 v2 v3 v4 v5 i1 i2 i3
Fig. 2.8 Example of a circuit with two series and one parallel connection.

In Fig. 2.9:

  • Voltage source $V_1$ and inductor $L_1$ are connected in series because they both belong to minor mesh $i_2$ and the outside mesh.
  • Capacitor $C_1$, current source $i_1$ and capacitor $C_2$ are connected in series because they all belong to minor mesh $i_3$ and the outside mesh.
  • Resistor $R_2$ and inductor $L_2$ are connected in series because they both belong to minor meshes $i_2$ and $i_3$.
V1 R1 R2 C1 L1 L2 I1 C2 C3 v1 v2 v3 v4 v5 v6 v7 i1 i2 i3
Fig. 2.9 Example of a circuit with with multiple series and parallel connections.

If one component is connected in series with a second component, and the second component is connected in series with the third component, then, the first component is also connected in series with the third component.

Parallel connections

Two or more components (each having two terminals) are connected in parallel when they are connected between the same two nodes. For instance, looking at the circuit in Fig. 2.9:

  • Capacitor $C_3$ and resistor $R_1$ are connected in parallel because they are both connected between nodes $v_2$ and $v_3$.
  • However, inductors $L_1$ and $L_2$ are not connected in parallel because they are not connected between the same two nodes (inductor $L_1$ is connected between $v_3$ and $v_6$, while inductor $L_2$ is connected between $v_4$ and $v_6$.

If one component is connected in parallel with a second component, and the second component is connected in parallel with the third component, then, the first component is also connected in parallel with the third component.

2.10 Resistor Combinations

Series

If two or more resistors $R_1$, $R_2$, ... $R_n$ are connected in series they are equivalent with a resistor with $$R_{eff}=R_1+R_2+...+R_n$$ That means we can replace one of the $n$ resistors with an equivalent resistor with resistance $R_{eff}$ and replace the other resistors with short-circuits (wires).

For instance, considering the circuit in Fig. 2.10, resistors $R_1$ and $R_2$ are connected in series. Therefore, we can keep one the resistors, say $R_1$, replace its value with $R_{eff}=R_1+R_2$, and replace resistor $R_2$ with a wire.

R R1 R2 R3 R4 R5 R Reff R3 R4 R5 R Reff R3 R4 R5
Fig. 2.10 When combining multiple resistors that are connected in series, we keep one resistor and short-circuit the others. The 3 diagrams are equivalent with each other.
Parallel

If two or more resistors $R_1$, $R_2$, ... $R_n$ are connected in parallel they are equivalent with a resistor with $$R_{eff}=\frac{1}{\frac{1}{R_1}+\frac{1}{R_2}+...+\frac{1}{R_n}}$$ That means we can replace one of the $n$ resistors with an equivalent resistor with resistance $R_{eff}$ and remove all the other resistors. When we have only two resistors connected in parallel, we can replace them with a single resistors with resistance $$R_{eff}=\frac{R_1 R_2}{R_1+R_2}$$

For instance, considering the circuit in Fig. 2.11, resistors $R_3$, $R_4$, and $R_5$ are connected in parallel. Therefore, we can keep one the resistors, say $R_3$, replace its value with $R_{eff}=\frac{1}{\frac{1}{R_3}+\frac{1}{R_4}+\frac{1}{R_5}}$, and remove resistor $R_4$ from the circuit. Similarly, we could keep $R_4$ and remove $R_3$ and $R_5$, or keep $R_5$ and remove $R_3$ and $R_4$.

R R1 R2 R3 R4 R5 R R1 R2 Reff R R1 R2 Reff R R1 R2 Reff
Fig. 2.11 When combining multiple resistors that are connected in parallel, we keep one resistor and remove the others. The 4 diagrams are equivalent with each other.

2.11 Inductor Combinations

Series

If two or more inductors $L_1$, $L_2$, ... $L_n$ are connected in series they are equivalent with a inductor with $$L_{eff}=L_1+L_2+...+L_n$$ That means we can replace one of the $n$ inductors with an equivalent inductor with inductance $L_{eff}$ and replace the other inductors with short-circuits (wires).

For instance, considering the circuit in Fig. 2.12, inductors $L_1$ and $L_2$ are connected in series. Therefore, we can keep one the inductors, say $L_1$, replace its value with $L_{eff}=L_1+L_2$, and replace inductor $L_2$ with a wire.

L L1 L2 L3 L4 L5 R Leff L3 L4 L5 R Leff L3 L4 L5
Fig. 2.12 When combining multiple inductors that are connected in series, we keep one inductor and short-circuit the others. The 3 diagrams are equivalent with each other.
Parallel

If two or more inductors $L_1$, $L_2$, ... $L_n$ are connected in parallel they are equivalent with a inductor with $$L_{eff}=\frac{1}{\frac{1}{L_1}+\frac{1}{L_2}+...+\frac{1}{L_n}}$$ That means we can replace one of the $n$ inductors with an equivalent inductor with inductance $L_{eff}$ and remove all the other inductors. When we have only two inductors connected in parallel, we can replace them with a single inductors with inductance $$L_{eff}=\frac{L_1 L_2}{L_1+L_2}$$

For instance, considering the circuit in Fig. 2.13, inductors $L_3$, $L_4$, and $L_5$ are connected in parallel. Therefore, we can keep one the inductors, say $L_3$, replace its value with $L_{eff}=\frac{1}{\frac{1}{L_3}+\frac{1}{L_4}+\frac{1}{L_5}}$, and remove inductor $L_4$ from the circuit. Similarly, we could keep $L_4$ and remove $L_3$ and $L_5$, or keep $L_5$ and remove $L_3$ and $L_4$.

L L1 L2 L3 L4 L5 R L1 L2 Leff R L1 L2 Leff R L1 L2 Leff
Fig. 2.13 When combining multiple inductors that are connected in parallel, we keep one inductor and remove the others. The 4 diagrams are equivalent with each other.

2.12 Capacitor Combinations

Series

If two or more capacitors $C_1$, $C_2$, ... $C_n$ are connected in series they are equivalent with a capacitor with $$C_{eff}=\frac{1}{\frac{1}{C_1}+\frac{1}{C_2}+...+\frac{1}{C_n}}$$ That means we can replace one of the $n$ capacitors with an equivalent capacitor with capacitance $C_{eff}$ and replace the other capacitors with short-circuits (wires). When we have only two capacitors connected in parallel, we can replace them with a single capacitors with capacitance $$C_{eff}=\frac{C_1 C_2}{C_1+C_2}$$

For instance, considering the circuit in Fig. 2.14, capacitors $C_1$ and $C_2$ are connected in series. Therefore, we can keep one the capacitors, say $C_1$, replace its value with $C_{eff}=\frac{C_1 C_2}{C_1+C_2}$, and replace capacitor $C_2$ with a wire.

C C1 C2 C3 C4 C5 R Ceff C3 C4 C5 R Ceff C3 C4 C5
Fig. 2.14 When combining multiple capacitors that are connected in series, we keep one capacitor and short-circuit the others. The 3 diagrams are equivalent with each other.
Parallel

If two or more capacitors $C_1$, $C_2$, ... $C_n$ are connected in parallel they are equivalent with a capacitor with $$C_{eff}=C_1+C_2+...+C_n$$ That means we can replace one of the $n$ capacitors with an equivalent capacitor with capacitance $C_{eff}$ and remove all the other capacitors.

For instance, considering the circuit in Fig. 2.15, capacitors $C_3$, $C_4$, and $C_5$ are connected in parallel. Therefore, we can keep one the capacitors, say $C_3$, replace its value with $C_{eff}=C_3+C_4+C_5$, and remove capacitors $C_4$ and $C_5$ from the circuit. Similarly, we could keep $C_4$ and remove $C_3$ and $C_5$, or keep $C_5$ and remove $C_3$ and $C_4$.

C C1 C2 C3 C4 C5 R C1 C2 Ceff R C1 C2 Ceff R C1 C2 Ceff
Fig. 2.15 When combining multiple capacitors that are connected in parallel, we keep one capacitor and remove the others. The 4 diagrams are equivalent with each other.

2.13 Voltage Source Combinations

Series

If two or more voltage sources $V_1$, $V_2$, ... $V_n$ are connected in series they can be replaced with a single voltage source with $$V_{eff}=\pm V_1 \pm V_2\pm...\pm V_n$$ where the terms in the right hand side are taken with $+$ sign if the corresponding voltage source $V_i$ is oriented in the same direction with $V_{eff}$ and with $-$ sign if $V_i$ is oriented in opposite direction with $V_{eff}$. Since the voltage sources are all connected in series, when we replace $V_i$ with $V_{eff}$, we need to replace the other voltage sources with short-circuits (wires).

For instance, considering the circuit in Fig. 2.16, voltage sources $V_1$ and $V_2$ are connected in series. Therefore, we can keep one the voltage sources, say $V_1$, replace its value with $V_{eff}=V_1-V_2$, and replace voltage source $V_2$ with a wire.

V V1 V2 R1 L1 C1 R Veff R1 L1 C1 R Veff R1 L1 C1
Fig. 2.16 When combining multiple voltage sources that are connected in series, we keep one voltage source and short-circuit the others. The 3 diagrams are equivalent with each other.
Parallel

Voltage sources should never be combined in parallel.

2.14 Current Source Combinations

Series

Current sources should never be combined in series.

Parallel

If two or more current sources $I_1$, $I_2$, ... $I_n$ are connected in parallel they can be replaced with a single current source with $$I_{eff}=\pm I_1 \pm I_2\pm...\pm I_n$$ where the terms in the right hand side are taken with $+$ sign if the corresponding current source $I_i$ is oriented in the same direction with $I_{eff}$ and with $-$ sign if $I_i$ is oriented in opposite direction with $I_{eff}$. Since all the current sources are connecte in parallel, when we replace $I_i$ with $I_{eff}$, we need to remove the other current sources.

For instance, considering the circuit in Fig. 2.17, current sources $I_1$, $I_2$, and $I_3$ are connected in parallel. Therefore, we can keep one the current sources, say $I_1$, replace its value with $I_{eff}=I_1-I_2+I_3$, and remove current sources $I_2$ and $I_3$ from the circuit.

I R1 R2 I1 I2 I3 R R1 R2 Ieff R R1 R2 Ieff R R1 R2 Ieff
Fig. 2.17 When combining multiple current sources that are connected in parallel, we keep one current source and remove the others. The 4 diagrams are equivalent with each other.

2.15 Power Dissipated

The power dissipated by a two terminal component is equal to

$$\begin{equation}P_d(t)=V(t) I(t)\end{equation}$$
+ V(t) I(t) Z
Fig. 2.18 Computing the power dissipated by a 2-terminal component.

where voltage $V(t)$ and current $I(t)$ are shown in Fig. 2.19. Notice that we used the same sign convention for $V(t)$ and $I(t)$ as in Ohm's law. In general, the power dissipated by a component is a time-dependent quantity and depends on the instanteneous values of the voltage and current.

In the case of resistors, the power dissipated becomes $$\begin{equation}P_d(t)=R~I(t)^2=\frac{V(t)^2}{R}\end{equation}$$where we used Ohm's law. Notice that, since we square both the current and voltage, the power dissipated by a resistors is non-negative (assuming that the resistance is positive). At steady-state (in the case of DC circuits), the power dissipated does not depend on time and $P_d=RI^2=\frac{V^2}{R}$.

The power dissipated by a component is measured in watts (W).

2.16 Power Generated

The power generated by a two terminal component is negative the power dissipated by that component

$$\begin{equation}P_g(t)=-P_d(t)=V(t) I(t)\end{equation}$$

where voltage $V(t)$ and current $I(t)$ are shown in Fig. 2.18.

The power generated by a component is measured in watts (W).

2.17 Tellegen's theorem

Consider an arbitrary lumped network that has $b$ branches and $n$ nodes. Suppose that to each branch we assign arbitrarily a branch potential difference $V_k$ and a branch current $I_k$ for $k=1,...,b$ and suppose that they are measured with respect to arbitrarily picked associated reference directions. Tellegen's theorem states that $$\begin{equation}\sum_{k=1}^{b}{V_k I_k}=0\end{equation}$$

Tellegen's theorem shows that, if KVL and KCL are satisfied, the algebraic sum of the powers dissipated by an isolated electric circuit is equal to 0. In other words, the total power dissipated in a circuit is equal to the total power generated in the circuit.

2.18 Energy Dissipated

The energy dissipated by a two terminal component from moment $t_0$ until $t$ is equal to $$\begin{equation}E_d=\int_{t_0}^{t} \, V(t)I(t) \, dt\end{equation}$$

+ V(t) I(t) Z
Fig. 2.19 Applying Ohm's law to a resistor.

where voltage $V$ and current $I$ are shown in Fig. 2.20. Notice that we used the same sign convention for $V$ and $I$ as in Ohm's law.

At steady-state (in the case of DC circuits), the energy dissipated dobecomes $E_d=IV(t-t_0)$. Notice that the energy dissipated increases linearly as times passes.

The energy dissipated by a component is measured in joules (J).

2.19 Energy Generated

The energy generated by a two terminal component is negative the energy dissipated by that component $$\begin{equation}E_g=-E_d\end{equation}$$ and is measured in joules (J).


\(\setSection{3}\)3. Simple Circuits

By simple circuits we understand those circuits that one should be able to solve relatively fast using simple circuit analysis techniques such as Ohm's law, current and voltage division, etc., without having to rely on more advanced methods such as nodal and mesh analysis. Examples of simple circuits are a battery that powers a DC motor, a few batteries in series that power a light bulb (such as a 3V-flashlight), a computer or TV that we connect to the AC power line, etc.

3.1 Ohm's Law

Ohm’s law states that the current through a resistor is directly proportional to the voltage across the resistor. Denoting the constant of proportionality with $R$ (the resistance), one can express Ohm's law mathematically as $$\begin{equation}V=RI\end{equation}$$ or $$\begin{equation}I=\frac{V}{R}\end{equation}$$ where voltage $V$ and current $I$ are shown in Fig. 3.20. It is important to note that the value of the current that we obtain using Ohm's law depends on how we define voltage $V$. As shown in the figure, the current obtained using Ohm's law is assumed to flow from the $+$ to the $-$ nodes (however, depending on the value of $V$ this current can be either positive or negative).

+ V I R
Fig. 3.20 Applying Ohm's law to a resistor.

If we introduce the conductance as the inverse of the resistance $C=1/R$, Ohm's law becomes $V=I/C$ or $I=CV$. The unit for resistance is ohm ($Ω$); the unit for conductance is siemens ($S$), also known as mho.

3.2 Kirchhoff's Current Law (KCL)

Kirchhoff’s current law (KCL), also known as Kirchhoff’s first law or Kirchhoff’s junction rule, states that, for any node in an electrical circuit, the sum of currents flowing into that node is equal to the sum of currents flowing out of that node. In other words, the algebraic sum of currents at any node is zero (where we usually consider that current is signed positive if its direction is away from the node and negative if its direction is towards the node). Equivalently: $$\begin{equation}\sum_{i=1}^{n} I_i = 0\end{equation}$$ where $n$ is the total number of branches with currents flowing towards or away from the node. Notice that, in the case of time-dependent circuits, Kirchhoff’s current law holds at any moment in time and can be written as $\sum_{i=1}^{n} I_i(t) = 0$.

For instance, consider the circuit shown in Fig. 3.21. KCL, applied to the node shown in black, can be written as $$\begin{equation}I_{R_1}+I_{R_2}+I_{R_3}-I_2+I_{R_4}+I_1=0\end{equation}$$ Quite often, KCL is written in combination with Ohm's law in which case the current flowing through each resistor is expressed as the voltage across the resistor divided by the resistance.

IR1 R1 IR2 R2 I1 IR3 R3 I2 IR4 R4 R5
Fig. 3.21 Circuit for which we write KCL.

Notice that KCL can also be written by considering that current is signed negative if its direction is away from a node and positive if its direction is towards the node. In this case, KCL becomes $$\begin{equation}-I_{R_1}-I_{R_2}-I_{R_3}+I_2-I_{R_4}-I_1=0\end{equation}$$ which is nothing else but the previous equation with all signs changed.

3.3 Kirchhoff's Voltage Law (KVL)

Kirchhoff’s voltage law (KVL), also known as Kirchhoff’s second law or Kirchhoff’s loop rule, states that for any closed loop in a circuit, the sum of the potential differences (voltages) across all components is zero: $$\begin{equation}\sum_{i=1}^{n} V_i = 0\end{equation}$$ where $n$ is the total number of voltages measured. Notice that, in the case of time-dependent circuits, Kirchhoff’s voltage law holds at any moment in time and can be written explicitly as $\sum_{i=1}^{n} V_i(t) = 0$.

For instance, consider the circuit shown in Fig. 3.22. If we go clockwise and add up the voltages across each component, KVL can be written as $$\begin{equation}R_1 I_0+V_2+R_2 I_0+V_3+R_5 I_0+R_4 I_0 + R_3 I_0-V_1=0\end{equation}$$ where we took the voltage of each source with positive sign if we went from the positive to the negative electrode and have applied Ohm's law when computing the voltage across each resistor. Notice that we can also write KVL by adding up the voltages going counterclockwise, in which case we have $$\begin{equation}-R_1 I_0+V_1-R_3 I_0-R_4 I_0-R_5 I_0-V_3 - R_2 I_0-V_2=0\end{equation}$$ however, the last two equations are identical if we we move the terms to the right hand side change the order in which they appear.

I0 R1 V1 V2 R2 R3 V3 R4 R5
Fig. 3.22 Circuit for which we write KVL.

If $I_0$ is taken in opposite direction (see Fig. 3.23), and we write KVL counter-clockwise, we have $$\begin{equation}R_1 I_0+V_1+R_3 I_0+R_4 I_0+R_5 I_0-V_3 + R_2 I_0-V_2=0\end{equation}$$

I0 R1 V1 V2 R2 R3 V3 R4 R5
Fig. 3.23 Circuit for which we write KVL.

3.4 Single Loop Circuits

Single loop circuits can usually be analyzed using Kirchhoff's voltage law (KVL) and Ohm's law.

For instance, let us consider the circuit shown in Fig. 3.24, in which we need to compute current $I_0$.

I0 3 7V 5V 2 6 4V 1 8
Fig. 3.24 Applying KVL to compute the current in a single loop circuit.

Writing KVL clockwise (in the direction of current $I_0$) we have $$3I_0+5+2I_0+4+8I_0+1I_0+6I_0-7=0$$ which can be solved to obtain $$I_0= -\frac{2\ V}{20\ Ω}=-0.2\ A = -200\ mA$$

Notice that if we had written KVL in opposite direction (but keep curent $I_0$ as in Fig. 3.24), we have obtained the same answer for $I_0$.

3.5 Single Node-Pair Circuits

Single node-pair circuits can usually be analyzed using Kirchhoff's current law (KCL) and Ohm's law.

For instance, let us consider the circuit shown in Fig. 3.25, in which we need to compute current $V_0$.

+ V0 2 4 2A 1 7A 4
Fig. 3.25 Applying KCL to compute the voltage in a single node-pair circuit.

Noticing that the voltage from the black (top) node to the red (bottom) node is $V_0$ and using Ohm's law, we can write KCL as $$\frac{V_0}{4}+\frac{V_0}{1}-7+\frac{V_0}{4}+2+\frac{V_0}{2}=0$$ which can be solved to obtain$$V_0= 10\ V$$

3.6 Voltage Division

Voltage division is a technique that can be used to compute the voltage across each resistor of a series combination of resistors when the voltage across all the resistors is known. For instance, if we have $n$ resistors connected in series and the total voltage across them is $V$, the voltage across resistor $R_i$ is equal to $$\begin{equation}V_i=V\frac{R_i}{R_1+R_2+...+R_n}\end{equation}$$

In the case of only two resistors, the previous equation gives $$\begin{equation}V_1=V\frac{R_1}{R_1+R_2}\end{equation}$$ $$\begin{equation}V_2=V\frac{R_2}{R_1+R_2}\end{equation}$$

For instance, consider the circuit shown in Fig. 3.26.

20V + V1 2 + V2 5 + V3 3
Fig. 3.26 Applying voltage division when the total voltage across three resistors connected in series is given.

Applying voltage division we obtain $$V_{1}=20\ V \times\frac{2}{2+5+3}=4\ V$$ $$V_{2}=20\ V \times\frac{5}{2+5+3}=10\ V$$ $$V_{3}=-20\ V \times\frac{3}{2+5+3}=-6\ V$$ Notice that, in the last equation, we took $V_3$ with negative sign because voltage $V_3$ is defined in opposite direction than the voltage induced by the $20\ V$ voltage source.

3.7 Current Division

Current division is a technique that can be used to compute the current going through each resistor of a parallel combination of resistors when the current going through all the resistors is known. In general, if we have $n$ resistors connected in parallel and the total current going through them is $I$, the current going through resistor $R_i$ is equal to $$\begin{equation}I_i=I\frac{\frac{1}{R_i}}{\frac{1}{R_1}+\frac{1}{R_2}+...+\frac{1}{R_n}}\end{equation}$$

In the case of only two resistors, the previous equation gives $$\begin{equation}I_1=I\frac{R_2}{R_1+R_2}\end{equation}$$ $$\begin{equation}I_2=I\frac{R_1}{R_1+R_2}\end{equation}$$

For instance, consider the circuit shown in Fig. 3.27.

6A I1 4 I2 8
Fig. 3.27 Applying current division when we know the total current flowing through two resistors connected in parallel.

Applying current division we obtain $$I_{1}=6\ A \times\frac{\frac{1}{8}}{\frac{1}{4}+\frac{1}{8}}=4\ A$$ $$I_{2}=-6\ A \times\frac{\frac{1}{4}}{\frac{1}{4}+\frac{1}{8}}=-2\ A$$ Notice that, in the last equation, we took $I_2$ with negative sign because the current flows in opposite direction than the current induced by the $6\ A$ current source.


\(\setSection{4}\)4. Nodal and Loop Analysis Techniques

4.1 Nodal Analysis

Nodal analysis is a method based Kirchhoff's current law that can be used to compute the potentials in a circuit. The technique is based on the fact that, if a circuit has $n+1$ nodes (including the ground node), the $n$ potentials (excluding the potential of the ground node, which is assumed to be $0$) can be found by solving a system of $n$ independent equations that can be obtained by applying KCL, in which the current going through each branch is computed based on the current-voltage characteristic of the element on that branch. If the circuit contains $m$ voltage sources (notice that in the case of voltage sources, the current vs. voltage is a multivalued function), $m$ equations will be the voltage constrained equations of each voltage source as described below.

Algorithm

Assume we have a circuit with $n$ nodes (excluding the ground node), $m$ voltage sources and $c$ control variables.

Step 1. Identify the nodes in the circuit and select one of them as a reference node. The reference node is treated as ground node.

Step 2. Label the potentials at each of the $n$ nodes with $v_1$, $v_2$, ..., $v_n$, where $n$ is the number of nodes (excluding the ground node).

Step 3. Write the system of nodal analysis equations, which will have $n+c$ equations ($m$ voltage constrained equations, $n-m$ KCL equations, and $c$ equations for the control variables). It is a good practice two write the $n+c$ equations in the order specified below:

A. Write $m$ voltage constrained equations. Write one voltage constrained equations for each Voltage source $$\begin{equation}V_i=v_{i+}-v_{i-}\end{equation}$$ where $i=1,...,m$ and $v_{i+}-v_{i-}$ is the difference between the potentials of the positive and the negative electrodes of source $m$.

B. Write $c$ equations for control variables. Express each control variable (that usually appear in the definition of dependent sources) in terms of the $n$ nodal potentials.

C. Write KCL equations for regular nodes. Write KCL for each of regular node that does not connect a voltage source. When writing KCL, the current through each resistor (or impedance in the case of AC circuits) should be computed using Ohm's law.

D. Write KCL equations for supernodes. Write KCL for each supernode. As before, when writing KCL, the current through each resistor (or impedance) should be computed using Ohm's law.

Step 4. Solve the system on nodal analysis equations to compute the $n$ nodal potentials and $c$ control variables.

Step 5. Compute the sought variables.

Notes
  • A supernode is a generalized node containing only voltage sources inside but is not connected to any voltage source on the outside. Usually, we will need to write equations for supernodes whenever we have voltage sources that are not connected to the ground node directly of through any other voltage sources. Since a supernode contains voltage sources, a supernode does not have its own potential (in fact, it will contain multiple regular nodes).
  • The number of KCL equations that we write at steps 3.C and 3.D should be $n-m$.
  • Sometimes, it is convenient to add the equations for the sought variables to the $n+c$ nodal analysis equations. In this case, the solution of the system will also contain the values of the sought variables.
  • Nodal analysis can be used to analyze both linear and nonlinear circuits, DC and AC circuits, as well as time-dependent circuits. In the case of DC circuits we obtain a system of equations with real coefficients; in the case of AC circuits we obtain a system of equations with complex coefficients; in the case or time-dependent problems we obtain system of integro-differential equations (which can usualy be reduced to a system of ordinary differential equations).

4.2 Mesh Analysis

Mesh analysis is a method based Kirchhoff's voltage law that can be used to compute the currents flowing in each branch of a circuit. The technique is based on the fact that, if a circuit has $n$ minor meshes, the $n$ mesh currents can be found by solving a system of $n$ independent equations that can be obtained by applying KVL, in which the voltage across each component is computed based on its voltage-current characteristic. If the circuit contains $m$ current sources (notice that in the case of current sources the voltage vs. current is a multivalue function), $m$ equations will be the current constrained equations of each current source, as described below.

Algorithm

Assume we have a circuit with $n$ meshes (excluding the outside mesh), $m$ current sources and $c$ control variables.

Step 1. Identify the meshes in the circuit. The outside mesh is selected as a reference mesh.

Step 2. Label the currents at each of the $n$ meshes with $i_1$, $i_2$, ..., $i_n$.

Step 3. Write the system of mesh analysis equations, which will have $n+c$ equations ($m$ current constrained equations, $n-m$ KVL equations, and $c$ equations for the control variables). It is a good practice two write the $n+c$ equations in the order specified below:

A. Write $m$ current constrained equations. Write one current constrained equations for each source $$\begin{equation}I_i=i_{i1}+i_{i2}\end{equation}$$ where $i=1,...,m$ and $i_{i1}+i_{i2}$ is the algebraic sum of the two mesh currents adjacent to source $m$ going in reference with the direction of the current source. When all mesh currents are considered to be in the same direction (usually clockwise), one mesh current will usually enter with a plus sign, while the other with a minus sign in this formula.

B. Write $c$ equations for control variables. Express each control variable (that usually appear in the definition of dependent sources) in terms of the $n$ mesh currents.

C. Write KVL equations for regular meshes. Write KVL for each of regular mesh that does not connect a current source. When writing KVL, the current through each resistor (or impedance in the case of AC circuits) should be computed using Ohm's law.

D. Write KVL equations for supermeshes. Write KVL for each supermesh. As before, when writing KVL, the current through each resistor (or impedance) should be computed using Ohm's law.

Step 4. Solve the system on mesh analysis equations to compute the $n$ mesh currents and $c$ control variables.

Step 5. Compute the sought variables.

Notes
  • A supermesh is a generalized mesh containing only current sources inside but is not connected to any current source on the outside. Usually, we will need to write equations for supermeshes whenever we have current sources that are not part of the outside mesh or near the outside mesh through any other current sources. Since a supermesh contains current sources, a supermesh does not have its own current (in fact, it will contain multiple regular meshes).
  • The number of KVL equations that we write at steps 3.C and 3.D should be $n-m$.
  • Sometimes, it is convenient to add the equations for the sought variables to the $n+c$ mesh analysis equations. In this case, the solution of the system will also contain the values of the sought variables.
  • It is not mandatory to chose the outside mesh as a reference mesh. In principle, one could chose any mesh as the reference mesh and include the outside mesh as a regular mesh. However, this is almost never done in practice when solving mesh analysis problems.
  • Mesh analysis can be used to analyze both linear and nonlinear circuits, DC and AC circuits, as well as time-dependent circuits. In the case of DC circuits we obtain a system of equations with real coefficients; in the case of AC circuits we obtain a system of equations with complex coefficients; in the case or time-dependent problems we obtain a system of integro-differential equations (which can usualy be reduced to a system of ordinary differential equations).

\(\setSection{5}\)5. Additional Analysis Techniques

5.1 Superposition

Superposition is a method that can be used to analyze linear electric circuits. The method is based on the fact that the values of the potentials and currents in a circuit containing multiple independent sources can be calculated by adding algebraically the potentials and currents obtained by activating one source at a time.

Algorithm

Assume we have a circuit that contains at least two independent sources.

Step 1. Keep only one independent sources and deactivate all the other independent sources. Notice that if you circuit contains dependent sources you need to keep those in the circuit (in a way, they are treated like resistors).

Step 2. Calculate the potentials and currents in the circuit.

Step 3. Repeat the last two steps for each source in the circuit.

Step 4. Superimpose the values of potentials and currents obtained at Step 2; pay special attention to the direction of the voltage drops and current flows.

Notes
  • To deactivate a current source we remove it from the circuit (replace it with open-circuit or break); to deactivate a voltage source we replace it with a short-circuit (or wire).
  • Unlike mesh and nodal analysis that can be applied to both nonlinear and linear circuits, superposition can be applied only to linear circuits. Therefore, we cannot use superposition to compute the potential and currents in a circuit containing diodes, transistors, or other nonlinear elements.
  • The superposition method can be applied to DC, AC and time-dependent circuits (as long as the circuit is linear).
  • The superposition method cannot be used to add power. If we need to compute the power generated or dissipated by a component, we need to compute the voltage across and current flowing through the component first and, then, the power.

5.2 Source Transformation

Source transformation is the process of simplifying a linear circuit, especially with mixed sources, by transforming independent voltage sources into independent current sources using Norton's theorem, and vice versa using Thévenin's theorem . The process is usually combined with series and parallel simplifications of resistor (or impedance in the case of AC circuits), current sources and voltage sources.

V R I R A B A B
Fig. 5.28 Example of a source transformation. Notice that resistance $R$ is the same in both configurations. In order for the two circuits to be equivalent the components need to satisfy $V=RI$.
Conversion from Norton to Thévenin equivalent circuit

When transforming a circuit from a Norton equivalent circuit to a Thévenin equivalent circuit the value of the resistance remains the same, while the voltage of the voltage source is $$\begin{equation}V=R I\end{equation}$$

Conversion from Thévenin to Norton equivalent circuit

When transforming a circuit from a Thévenin equivalent circuit to a Norton equivalent circuit the value of the resistance remains the same, while the current of the current source is $$\begin{equation}I=\frac{V}{R}\end{equation}$$

5.3 The $V_{test}/I_{test}$ method

Have you ever wondered how an ohmmeter works (an ohmmeter is an instrument that measures the resistance or impedance of a circuit)? In order to measure the resistance of a network the ohmmeter applies a small voltage at the terminals of the network and measure the current going through the terminals. Then, it uses Ohm's law to compute the resistance of the circuit. This principle stays at the basis of the $V_{test}/I_{test}$ method that is often used in electronics to measure or compute the resistance of a network. Depending on the type of the source that is used to energize the network, we distinguish two methods.

The test voltage source method

When using the test voltage source method we apply a test voltage (in theoretial calculations often taken equal to $1 \: {\textcolor{gray}V}$) and compute the value of the current injected by this source. Then, the resitance of the network is comptued using

$$\begin{equation}R=\frac{V_{test}}{I_{test}}\end{equation}$$
Itest Vtest Linear network
Fig. 5.29 Connecting a test voltage source to measure the resistance of a network.
The test current source method

When using the test current source method we apply a test current (in theoretial calculations often taken equal to $1 \: {\textcolor{gray}A}$) and compute the value of the voltage at the terminals of the network. Then, the resitance of the network is comptued using the same equation as above.

+ Vtest Itest Linear network
Fig. 5.30 Connecting a test current source to measure the resistance of a network.
Notes
  1. Whenever you use the $V_{test}/I_{test}$ method to determine the resistance of a circuit, you need to make sure your circuit does not have any independent sources that could affect your measurements (in practice they can demage your ohmmeter).
  2. The $V_{test}/I_{test}$ method is often used to determine the Norton and Thévenin resistance (or impedance in the case of AC circuits) of a network.

5.4 Norton's' Theorem

Norton's theorem states that any two-terminal linear circuit containing only voltage sources, current sources and resistors (or impedances in the case of AC circuits) can be replaced by an equivalent combination of a current source $I_{N}$ in parallel with a resistor $R_{N}$ (or impedance $Z_{N}$ in the case of AC circuits).

IN RN A B
Fig. 5.31 Any linear circuit with two terminals can be replaced with the Norton equivalent circuit.

Norton's theorem and its dual, Thévenin's theorem, are widely used to simplify circuit analysis and study a circuit's initial-condition and steady-state response. Norton's theorem may in some cases be more convenient to use than Kirchhoff's circuit laws when analyzing linear circuits.

Calculating the Norton equivalent circuit

Calculating the Norton equivalent circuit, or simply the Norton equivalent of a circuit with two terminals means computing the Norton current and Norton resistance of the circuit.

The Norton current can be computed using any of the following methods:

  • $I_{N} = I_{s.c}$ - the Norton current is equal to the short-circuit current at the output terminals of the original circuit. To compute $I_{s.c.}$ one can use any of the methods of linear circuit analysis such as nodal analysis, mesh analysis, or current and voltage division.
  • If the Thévenin voltage $V_{Th}$ and Thévenin resistance $R_{Th}$ are known and $R_{Th} \neq 0$, one can calculate the Norton current using $I_{N} = V_{Th}/R_{Th}$ .

The Norton resistance can be computed using any of the following methods:

  • $R_{N}$ can be computed by deactivating all independent sources and using the test voltage or test current methods using Ohm's law, $R_{N}=\frac{V_{test}}{I_{test}}$. To use the test voltage method, we connect a test voltage source at the output terminals (usually, but not necessarily, taken as $V_{test}=1~V$) and compute current $I_{test}$. To use the test current method, we connect a test current source at the output terminals (usually, but not necessarily, taken as $I_{test}=1~A$) and compute voltage $V_{test}$.
  • If the circuit does not contain any dependent sources, $R_{N}$ can be computed by deactivating all independent sources and looking at the resistance seen from the output terminals (in this case, $R_{N}$ can often be computed using series and parallel simplifications of resistors).
  • If $I_N$ and $V_{Th}$ are known and $I_{N} \neq 0$, one can calculate the Norton resistance using $R_{N} = \frac{V_{Th}}{I_{N}}$. However, please note that if $I_{N}=0$, we cannot divide $\frac{V_{Th}}{I_{N}}$; this does not mean that $R_{N}$ is equal to $0$ (or $\infty$), but it only means we need to use other methods to compute $R_{N}$.

Table 5.2 shows possible ways to compute $R_{Th}$ and $I_{N}$. However, please note that these are not the only ways to compute the Norton components, and you can often come up with alternative ways.

Table 5.2 How to compute $I_{N}$ and $I_{N}$ based on the elements that exist in the circuit.
If the circuits contains only... You should...
Resistors
  1. Compute $R_{N}$ using resistor simplification techniques. Alternatively, (for instance, if you end up with delta-wye transformation and you forgot how to do it...) you can can use the $V_{test}/I_{test}$ method.1)
  2. $I_{N} = 0$
Resistors and independent sources
  1. Deactivate all the independent sources in the circuit2) and comptue $R_{N}$ using resistor simplification techniques or the $V_{test}/I_{test}$ method.1)
  2. Compute the short-circuit current $I_{sc}$, which gives you $I_{N} = I_{sc}$. Alternatively, if the Norton resistance is not zero, you can compute the open-circuit voltage $V_{oc}$, and set $I_{N} = V_{oc}/R_{N}$
Resistors and dependent sources
  1. Compute $R_{N}$ using the $V_{test}/I_{test}$ method.1)
  2. $I_{N} = 0$
Resistors and independent and dependent sources
  1. Deactivate all the independent sources in the circuit2) and compute $R_{N}$ using the $V_{test}/I_{test}$ method.1)
  2. Compute the short-circuit current $I_{sc}$, which gives you $I_{N} = I_{sc}$. Alternatively, if the Norton resistance is not zero, you can compute the open-circuit voltage $V_{oc}$, and set $I_{N} = V_{oc}/R_{N}$

1) You can use either the test voltage or test current method. They should both give you the same result.
2) To deactivate the independent sources in the circuit, you need to replace all the independent voltage sources with short circuits (wires) and all the independent current sources with open circuits (remove them). Make sure you do not modify the dependent sources.

Notes
  • Sometimes, the Norton voltage and Norton resistance can be computed simultaneously by performing successive source transformations and using series and parallel combinations of resistors, voltage sources and current sources.
  • The Noton current of a circuit that does not contain any independent voltage and current sources is always 0.
  • The Thévenin and Norton resistances, the Thévenin voltage and the Norton current satisfy the following relationships: $$\begin{equation}R_{Th}=R_N\end{equation}$$ $$\begin{equation}V_{Th}=I_N R_{Th}\end{equation}$$Because of these relationships, it is usually necessary to find only two quantities because the other two can be calculated afterwards.
  • To deactivate a current source we remove it from the circuit (replace it with open-circuit or break); to deactivate a voltage source we replace it with a short-circuit (or wire).
  • The above techniques can also be used to compute the Norton current and Norton impedance $Z_{N}$ in linear AC circuits.

5.5 Thévenin's Theorem

Thévenin's theorem states that any two-terminal linear circuit containing only voltage sources, current sources and resistors (or impedances in the case of AC circuits) can be replaced by an equivalent combination of a voltage source $V_{Th}$ in series with a resistor $R_{Th}$ (or impedance $Z_{Th}$ in the case of AC circuits).

VTh RTh A B
Fig. 5.32 Any linear circuit with two terminals can be replaced with the Thévenin equivalent circuit.

Thévenin's theorem and its dual, Norton's theorem, are widely used to simplify circuit analysis and study a circuit's initial-condition and steady-state response. Thévenin's theorem may in some cases be more convenient to use than Kirchhoff's circuit laws when analyzing linear circuits.

Calculating the Thévenin equivalent circuit

Calculating the Thévenin equivalent circuit, or simply the Thévenin equivalent of a circuit with two terminals means computing the Thévenin voltage and Thévenin resistance of the circuit.

The Thévenin voltage can be computed using any of the following methods:

  • $V_{Th} = V_{oc}$ - the Thévenin voltage is equal to the open-circuit voltage at the output terminals of the original circuit. To compute $V_{oc}$ one can use any of the methods of linear circuit analysis such as nodal analysis, mesh analysis, or current and voltage division.
  • If Norton current $I_N$ and Norton resistance $R_{N}$ are known, one can calculate the Thévenin voltage using $V_{Th} = I_{N} R_{N}$ .

The Thévenin resistance can be computed using any of the following methods:

  • $R_{Th}$ can be computed by deactivating all independent sources and using the test voltage or test current methods using Ohm's law, $R_{Th}=\frac{V_{test}}{I_{test}}$. To use the test voltage method, we connect a test voltage source at the output terminals (usually, but not necessarily, taken as $V_{test}=1~V$) and compute current $I_{test}$. To use the test current method, we connect a test current source at the output terminals (usually, but not necessarily, taken as $I_{test}=1~A$) and compute voltage $V_{test}$.
  • If the circuit does not contain any dependent sources, $R_{Th}$ can be computed by deactivating all independent sources and looking at the resistance seen from the output terminals (in this case, $R_{Th}$ can often be computed using series and parallel simplifications of resistors).
  • If $I_N$ and $V_{Th}$ are known and $I_{N} \neq 0$, one can calculate the Thévenin resistance using $R_{Th} = \frac{V_{Th}}{I_{N}}$. However, please note that if $I_{N}=0$, we cannot divide $\frac{V_{Th}}{I_{N}}$; this does not mean that $R_{Th}$ is equal to $0$ (or $\infty$), but it only means we need to use other methods to compute $R_{Th}$.

Table 5.3 shows possible ways to compute $R_{Th}$ and $V_{Th}$. However, please note that these are not the only ways to compute the Thévenin components, and you can often come up with alternative ways.

Table 5.3 How to compute $V_{Th}$ and $R_{Th}$ based on the elements that exist in the circuit.
If the circuits contains only... You should...
Resistors
  1. Compute $R_{Th}$ using resistor simplification techniques. Alternatively, (for instance, if you end up with delta-wye transformation and you forgot how to do it...) you can can use the $V_{test}/I_{test}$ method.1)
  2. $V_{Th} = 0$
Resistors and independent sources
  1. Deactivate all the independent sources in the circuit2) and comptue $R_{Th}$ using resistor simplification techniques or the $V_{test}/I_{test}$ method.1)
  2. Compute the open-circuit voltage $V_{oc}$, which gives you $V_{Th} = V_{oc}$. Alternatively, you can compute the short-circuit current $I_{sc}$, which and set $V_{Th} = I_{sc}R_{Th}$
Resistors and dependent sources
  1. $Compute R_{Th}$ using the $V_{test}/I_{test}$ method.1)
  2. $V_{Th} = 0$
Resistors and independent and dependent sources
  1. Deactivate all the independent sources in the circuit2) and compute $R_{Th}$ using the $V_{test}/I_{test}$ method.1)
  2. Compute the open-circuit voltage $V_{oc}$, which gives you $V_{Th} = V_{oc}$. Alternatively, you can compute the short-circuit current $I_{sc}$ and $V_{Th} = I_{sc} R_{Th}$

1) You can use either the test voltage or test current method. They should both give you the same result.
2) To deactivate the independent sources in the circuit, you need to replace all the independent voltage sources with short circuits (wires) and all the independent current sources with open circuits (remove them). Make sure you do not modify the dependent sources.

Notes
  • Sometimes, the Thévenin voltage and Thévenin resistance can be computed simultaneously by performing successive source transformations and using series and parallel combinations of resistors, voltage sources and current sources.
  • The Thévenin voltage of a circuit that does not contain any independent voltage and current sources is always 0.
  • The Thévenin and Norton resistances, the Thévenin voltage and the Norton current satisfy the following relationships: $$\begin{equation}R_{Th}=R_N\end{equation}$$ $$\begin{equation}V_{Th}=I_N R_{Th}\end{equation}$$ Because of these relationships, it is usually necessary to find only two quantities because the other two can be calculated afterwards.
  • The above techniques can also be used to compute the Thévenin voltage and Thévenin impedance $Z_{Th}$ in linear AC circuits.

5.6 Maximum Power Transfer in DC circuits

Maximum power transfer

Consider the circuit in Fig. 5.33. If $V_{Th}$ and $R_{Th}$ are specified and one can change the value of the load resistance, the maxium power transfer occurs when $$\begin{equation}R_L=R_{Th}\end{equation}$$

VTh RTh + VL IL RL
Fig. 5.33 Maximum power dissipated by the load occurs when $R_L=R_{Th}$.

In general, if the $V_{Th} - R_{Th}$ series connection is replaced by a 2-port linear network containing multiple resistors, voltage sources and current sources, the 2-port network can always be replaced by its Thévenin equivalent circuit and we can use the above equation to calculate the load resistance for which the power transferred is maximum.


\(\setSection{6}\)6. AC Steady-State Analysis

6.1 Alternative Current (AC) Circuits

AC (linear) circuits are circuits containing resistors, capacitors, inductors and other linear components (e.g. transformers, linear sensors, actuators, etc.) driven by sources with sinusoidal (or cosinusoidal) waveforms. At steady-state, it is customary to express the waveforms of all the currents and potentials in the circuit (including the current of current sources and voltge of voltage sources(=) as cosinusoidal functions of time $$\begin{equation}X(t)=X_0 \cos(\omega t+\phi)\end{equation}$$ where $X_0$ is the magnitude (expressed in volts or amperes), $\phi$ is the phase (expressed in degrees or radians), and $\omega$ is the angular frequency of the signal. The angular frequency of the signal can be related to the frequency, $f$, or to the period, $T$ of the signal using the following relationships $$\begin{equation}\omega = 2\pi f=\frac{2\pi}{T}\end{equation}$$

It turns out that most of the methods that we used to study DC circuits can also be used to study AC circuits (Ohm's law, current division, voltage division, nodal analysis, mesh analysis, superposition, Thévenin's' theorem, Norton's' theorem, and source transformation) provided that we perform the analysis in frequency (or complex) domain. When we transform a circuit from time-domain to the frequency domain, the resistors, capactors and inductors become impedances measured in ohms, $Ω$. The voltage and current sources are are becoming complex sources, in which the values of the voltages and currents are complex numbers. Table 6.4 provides a list of conversion formulas from time-domain to frequency domain.

Table 6.4 Conversion formulas from time-domain to frequency domain ($j=\sqrt{-1}$).
Value in time-domain Impedance in frequency-domain
Resistor + V I R $R$$R$
Capacitor + V I C $C$$\frac{1}{j \omega C}=-\frac{j}{\omega C}$
Inductor + V I L $L$$j \omega L$
Phasor formRectangular form
Voltage and current sources, potentials, voltages, currents
I V + V I $X_0 \cos(\omega t +\phi)$

$X_0 \sin(\omega t +\phi)$
$X_0 \angle{\phi}$

$X_0 \angle{(\phi-90^\circ)}$
$X_0 (\cos \phi+j \sin \phi)$

$X_0 [\cos(\phi-90^\circ)+j \sin(\phi-90^\circ)]$
Algorithm

To compute the values of the voltages and currents in an AC circuit we:

Step 1. convert the circuit to frequency domain using Table 6.4;

Step 2. solve the circuit to compute the complex values of the sought variables (usually currents and voltages);

Step 3. express the sought variables in time-domain using again Table 6.4.

Notes
  • The following formulas might be useful when converting from time-domain to frequency domain$$\begin{equation}\sin x=\cos(x-90^\circ)=\cos(x-\frac{\pi}{2})\end{equation}$$
  • Linear circuits driven by sources that provide other periodic signals (e.g. rectangular or triangular waveforms) can be analyzed using the techniques of AC analysis by writting the signal of each source as a superposition of cosine waveforms (Fourier transforms).
  • Complex numbers can be represented mathematically in rectangular from, in which the real and imaginary parts are shown explicitly (such as $3+4j$) or in polar form in which the magnitude and angle are shown explicitly ($5 \angle 53.1^\circ$). To convert between the two formats you can use the transformations shown in Table 6.5. Function $\arctan _2(b,a)$ in this table takes two arguments and is not the same as the $\arctan(\frac{b}{a})$ (inverse tangent) function. Function $\arctan _2(b,a)$ looks at the signs of both values to determine the correct quadrant and gives the angle for which the real part of the complex number is $a$ and the imaginary part is $b$. Most programming languages define function $\arctan _2(b,a)$: in C/C++ it is atan2(b,a), in C# is Math.Atan2(b,a), in Java/JavaScript it is Math.Atan2(b,a), in Python is numpy.arctan2(b,a). To understand the difference between the two functions, you can check that $\arctan _2(-1,-1)=225^\circ$, which is different from $\arctan(\frac{-1}{-1})=45^\circ$.
Table 6.5 Conversion formulas from time-domain to frequency domain ($j=\sqrt{-1}$).
Rectangular form
$a+b j$
Polar form
$X_0 \angle \phi$
$a=X_0 \cos \phi$
$b=X_0 \sin \phi$
$X_0=\sqrt{a^2+b^2}$
$\phi=\text{atan2}(b,a)$
Applications of AC circuits
  • AC circuits have many applications in radio-frequency and related applications.
  • AC circuits can be useful in transmitting power over large distances because it is usually easier to build AC-to-AC than DC-to-DC step-up and step-down converters (transformers). Notice that the power losses over a DC line are equal to the power losses over an AC line for the same voltage and current specifications (d.c and rms values).
  • Most motors and generators consume or produce respectively AC power, therefore, circuits containing motors and genertors will often require AC analysis.
Impedance Simplification in AC Circuits

The complex impedance of an two-port network containing resistors, inductors and capacitors can be computed in the same manner as the resistance of DC networks, provided that the the real values of the resistors are now replaced with complex values corresponding to each impedance. The same rules for the simplification of series and parallel connections that we learned for the resistive networks can be applied to calculation of the complex impedance.

6.2 Alternative Current (AC) Methods

As disccussed in the previous section, most of the methods for the study of DC circuits can be used to study AC circuits (Ohm's law, current division, voltage division, nodal analysis, mesh analysis, superposition, Thévenin's' theorem, Norton's' theorem, and source transformation) if we perform the analysis in frequency (or complex) domain. We summarize these techniques below.

Ohm's Law in AC Circuits

Ohm's law can be extended to AC circuits, in which case the resistor is replaced with a frequency-dependent impedance. $$\begin{equation}V=ZI\end{equation}$$ or $$\begin{equation}I=\frac{V}{Z}\end{equation}$$

+ V I Z
Fig. 6.34 Applying Ohm's law to an impedance.

Current Division in AC Circuits

Current division can be extended to AC circuits, in which case the resistors are replaced with frequency-dependent impedances. In general, if we have $n$ impedances connected in parallel and the total current going through them is $I$, the current going through impedance $Z_i$ is equal to $$\begin{equation}I_i=I\frac{\frac{1}{Z_i}}{\frac{1}{Z_1}+\frac{1}{Z_2}+...+\frac{1}{Z_n}}\end{equation}$$

If we have only two impendances connected in parallel, the above equation gives $$\begin{equation}I_1=I\frac{Z_2}{Z_1+Z_2}\end{equation}$$ $$\begin{equation}I_2=I\frac{Z_1}{Z_1+Z_2}\end{equation}$$

Voltage Division in AC Circuits

Voltage division can be extended to AC circuits, in which case the resistors are replaced with frequency-dependent impedances. In general, if we have $n$ impedances connected in series and the total voltage across them is $I$, the voltage across impedance $Z_i$ is equal to $$\begin{equation}V_i=V\frac{Z_i}{Z_1+Z_2+...+Z_n}\end{equation}$$

Impedance Simplification in AC Circuits

The complex impedance of an two-port network containing resistors, inductors and capacitors can be computed in the same manner as the resistance of DC networks, provided that the the real values of the resistors are now replaced with complex values corresponding to each impedance. The same rules for the simplification of series and parallel connections that we learned for the resistive networks can be applied to calculation of the complex impedance.

Nodal and mesh analysis in AC circuits

The same algorithm that we used for the calculation of potentials and currents in DC circuits can now be used to compute the complex values of the potentials and currents in AC circuits. Please look at the examples provided in the Sample Solved Problems.

Superposition in AC circuits

The superposition method can also be applied for the calculation of complex potentials and currents in AC circuits. Please look at the examples provided in the Sample Solved Problems.

Source transformation, Norton and Thévenin equivalent AC circuits

The Norton and Thévenin theorems remaing valid for the calculation of complex potentials and currents in AC circuits. Please look at the examples provided in the Sample Solved Problems.

Table 6.6 shows possible ways to compute the Norton and Thévenin components.

Table 6.6 How to compute $V_{Th}$, $I_{N}$, $Z_{Th}$ and $Z_{N}$ based on the elements that exist in the AC circuit.
If the circuits contains only... You should...
Resistors, inductors and capacitors
  1. Compute $Z_{Th}$ and $Z_{N}$ using (complex) impedance simplification techniques. Alternatively, you can can use the $V_{test}/I_{test}$ method.1)
  2. $I_{N} = 0$ and $V_{Th}=0$
Resistors, inductors, capacitors and independent sources
  1. Deactivate all the independent sources in the circuit2) and comptue $Z_{Th}$ and $Z_{N}$ using impedance simplification techniques or the $V_{test}/I_{test}$ method.1)
  2. Compute the short-circuit current $I_{sc}$, which gives you $I_{N} = I_{sc}$. Alternatively, if the Norton resistance is not zero, you can compute the open-circuit voltage $V_{oc}$, and set $I_{N} = V_{oc}/Z_{N} = V_{oc}/Z_{Th}$
Resistors, inductors, capacitors and dependent sources
  1. Compute $Z_{Th}$ and $Z_{N}$ using the $V_{test}/I_{test}$ method.1)
  2. $I_{N} = 0$ and $V_{Th}=0$
Resistors, inductors, capacitors and independent and dependent sources
  1. Deactivate all the independent sources in the circuit2) and compute $Z_{Th}$ and $Z_{N}$ using the $V_{test}/I_{test}$ method.1)
  2. Compute the short-circuit current $I_{sc}$, which gives you $I_{N} = I_{sc}$. Alternatively, if the Norton resistance is not zero, you can compute the open-circuit voltage $V_{oc}$, and set $I_{N} = V_{oc}/Z_{N} = V_{oc}/Z_{Th}$

1) You can use either the test voltage or test current method. They should both give you the same result.
2) To deactivate the independent sources in the circuit, you need to replace all the independent voltage sources with short circuits (wires) and all the independent current sources with open circuits (remove them). Make sure you do not modify the dependent sources.

6.3 AC Power Analysis

Power analysis in time-domain domain

Consider the component shown in Fig. 6.35 and assume that $$\begin{equation}V(t) = V_M \cos(\omega t+\phi_V)\end{equation}$$ $$\begin{equation}I(t) = I_M \cos(\omega t+\phi_I)\end{equation}$$ where $V_M$, $I_M$, $\phi_V$, and $\phi_I$ are the magnitudes and phases of the voltage and current, respectively.

+ V(t) I(t) Z
Fig. 6.35 Time-dependent voltage and current.

The instantaneous power dissipated by the component is defined as $$\begin{equation}P(t)=V(t) I(t)=\frac{V_M I_M}{2} [\cos(\phi_V-\phi_I) + \cos(2\omega t + \phi_V +\phi_I)]\end{equation}$$

while the average power dissipated by the component is defined as $$\begin{equation}P=\frac{1}{2}V_M I_M \cos(\phi_V-\phi_I)\end{equation}$$ Notice that in a purely resistive load $P=\frac{V_M I_M}{2}$, while for ideal inductors and capacitors $P=0$.

We can also define the instantaneous power generated by the component as $-P(t)$ and the average power generated by it as $-P$.

The apparent power is defined as $P=\frac{V_M I_M}{2}$, while the power factor (pf) is ration of the average power to the apparent power $$\begin{equation}pf=\cos(\phi_V-\phi_I)\end{equation}$$ The power factor is a measure of the energy efficiency of the an AC equipment. The lower the power factor, the less efficient the power usage is. If an equipment is running with $pf<0.95$ is considered inefficient because of the ohmic losses in transmission lines.

Sometimes, it is convenient to write the powers in terms of the root-mean square (rms) value of the voltage and current, which are defined as $V_{rms}=\frac{V_M}{\sqrt{2}}$ and $I_{rms}=\frac{I_M}{\sqrt{2}}$ (notice that $V_{rms}$ and $I_{rms}$ are real numbers). With these notations, the average power dissipated by the component is $$\begin{equation}P=V_{rms}I_{rms}\cos(\phi_V-\phi_I)\end{equation}$$

Power analysis in complex form

The average power, the apparent power and the power factor of a component can be computed relatively easy by using the formalism of complex analysis. To do so, it is instrumental to define the complex power absorbed by the compoenent as $$\begin{equation}S=\frac{1}{2}V I^*\end{equation}$$ where $V$ is the complex voltage, $I$ is the complex current, and $I^*$ denotes the complex conjugate of $I$. If the component is a complex impedance $Z$ the complex power can be computed by introducing Ohm's law in the previous equation, $S=\frac{1}{2} |I|^2 Z=\frac{|V|^2}{2 Z^*}$. Notice that, in the case of resistors, the complex power becomes a real number. The complex power supplied by the component is defined as the negative of the absorbed complex power.

+ V I Z
Fig. 6.36 Complex voltage and current.

The complex power can be written in a slighlty simpler form as $\begin{equation}S=V_{rms} I_{rms}^*\end{equation}$, where $V_{rms}=\frac{V}{\sqrt(2)}$ and $I_{rms}=\frac{I}{\sqrt(2)}$ are the rms values of the complex voltage and current, respectively. Notice that, using these notations, $V_{rms}$ and $I_{rms}$ are complex numbers and they should not be confused with rms value of defined in the previous section.

If the complex power is known, one can compute

  • The average power $$P=Re(S)$$
  • The reactive power $$Q=Im(S)$$
  • The apparent power $$|S|=Abs(S)$$
  • The power factor $$pf=\frac{Re(S)}{|S|}$$
where $|S|$ donotes the absolut value of $S$. The power factor is called lagging if $Im(S)>0$ (i.e. the element is inductive) and leading if $Im(S)<0$ (i.e. the element is capacitive). Table 6.7 gives a summary of the AC power quantities described in this section.

Table 6.7 Power-related quantities and their units.
Name Notation Units
Complex power$S$volt-amperes, $\: \textcolor{gray}{VA}$
Apparent power$|S|$volt-amperes, $\: \textcolor{gray}{VA}$
Average (real) power$P$watts, $\: \textcolor{gray}{W}$
Reactive power$Q$volt-amperes reactive, $\: \textcolor{gray}{VAR}$
Power factor$pf$
Maximum average power transfer

Consider the circuit in Fig. 6.37. If $V_{Th}$ and $Z_{Th}$ are specified and one can change the value of the load impedance, the maxium power transfer occurs when $$\begin{equation}Z_L=Z_{Th}^*\end{equation}$$ When this condition is satisfied $\cos(\phi_V-\phi_I)=1$ and the average power becomes maximum.

VTh ZTh + VL IL ZL
Fig. 6.37 Maximum transfer transfer on the load occurs when $Z_L=Z_{Th}^*$.

In general, if the $V_{Th} - Z_{Th}$ circuit contains multiple impedances, voltage sources and current sources, it can always be replaced by its Thévenin equivalent circuit and we can still use the above equation to calculate the load impedance for which the average power transferred is maximum.

Notes
  • The power triangle states that $$\begin{equation}\tan(\phi_V-\phi_I)=\frac{Q}{P}\end{equation}$$ which can be obtained from the definition of real and reactive powers.
  • The rms value of a signal can be defined in general for any periodic waveform of the voltage or current as the DC voltage or current that dissipates the same amount of power as the average power dissipated by the time-varying voltage or current.

\(\setSection{7}\)7. Magnetically coupled circuits

7.1 Magnetically coupled inductors

Mutual inductance

According to Maxwell's equations', time-varying currents in wires produce electromagnetic fields in the space around the wires. These electromagnetic fields can then be captured by other wires located nearby and converted to electric power. For instance, let us consider the circuit in Fig. 7.38. If the two inductors are in the closed proximity of each other, they can induce voltages into each other once energized. Using Faraday's law one can show that the voltage across each inductor is equal to $$\begin{equation}v_1=L_1 \frac{di_1}{dt} \pm L_{12} \frac{di_2}{dt} \end{equation}$$ $$\begin{equation}v_2=\pm L_{21} \frac{di_1}{dt} + L_2 \frac{di_2}{dt} \end{equation}$$ where $L_1$ and $L_2$ are the (self) inductances of the two coils and $L_{12}$ and $L_{21}$ are two coupling coefficients (measured in Henries). The $L_1 \frac{di_1}{dt}$ and $L_2 \frac{di_2}{dt}$ terms in the previous equations represent the voltages induced by the current going through the inductor in the coil itself, while the $\pm L_{12} \frac{di_2}{dt}$ and $\pm L_{21} \frac{di_1}{dt}$ represent the voltages induced by the current going through one inductor in the other coil. Moreover, it can also be shown that two coupling coefficients are equal to each other, which allows us to write the previous equations using the so-called mutual inductance $M$ $$\begin{equation}M=L_{21}=L_{12}\end{equation}$$ Although we will not use it in this course, it is worthwile noting that the mutual inductance satisfies $M \le \sqrt{L_1 L_2}$.

V1 V2 R1 R2 + v1 i1 L1 + v2 i2 L2
Fig. 7.38 Example of two magnetically coupled inductors.

Writting the governing equations using the dot notation

The $\pm$ sign that appears in the previous equations depends on the exact arrangement of the windings of the two inductors (coils) with respect to each other. Therefore, it is important to indicate if the two inductors are winded in the same direction or oposite direction. A simple way to describe this, is to use the dot notation (see Fig. 7.39). Using the dot notation, KVL can be written for the two loops shown in Fig. 7.39 as follows $$\begin{equation}V_1=i_1 R_1 + L_1 \frac{di_1}{dt} + M \frac{di_2}{dt} \end{equation}$$ $$\begin{equation}V_2=i_2 R_2 + M \frac{di_2}{dt} + L_2 \frac{di_2}{dt} \end{equation}$$ In AC circuits the previous equations become $$\begin{equation}V_1=i_1 R_1 + \textcolor{blue}{j} \omega L_1 i_1 + \textcolor{blue}{j} \omega M i_2 \end{equation}$$ $$\begin{equation}V_2=i_2 R_2 + \textcolor{blue}{j} \omega M i_2 + \textcolor{blue}{j} \omega L_2 i_2 \end{equation}$$

V1 V2 R1 R2 i1 L1 i2 L2
Fig. 7.39 Two magnetically coupled inductors using the dot notation.

For the circuit in Fig. 7.40 KVL becomes (note that the location of the dots has changed compared to the previous figure - which can happen if the coils are winded in oposite direction with respect to each other) $$\begin{equation}V_1=i_1 R_1 + L_1 \frac{di_1}{dt} - M \frac{di_2}{dt} \end{equation}$$ $$\begin{equation}V_2=i_2 R_2 - M \frac{di_1}{dt} + L_2 \frac{di_2}{dt} \end{equation}$$ In AC circuits the previous equations become $$\begin{equation}V_1=i_1 R_1 + \textcolor{blue}{j} \omega L_1 i_1 - \textcolor{blue}{j} \omega M i_2 \end{equation}$$ $$\begin{equation}V_2=i_2 R_2 - \textcolor{blue}{j} \omega M i_2 + \textcolor{blue}{j} \omega L_2 i_2 \end{equation}$$

V1 V2 R1 R2 i1 L1 i2 L2
Fig. 7.40 Two magnetically coupled inductors using the dot notation.

For the circuit in Fig. 7.41 KVL becomes $$\begin{equation}V_1=i_1 R_1 + L_1 \frac{di_1}{dt} - M \frac{di_2}{dt} \end{equation}$$ $$\begin{equation}V_2=i_2 R_2 - M \frac{di_1}{dt} + L_2 \frac{di_2}{dt} \end{equation}$$ In AC circuits the previous equations become $$\begin{equation}V_1=i_1 R_1 + \textcolor{blue}{j} \omega L_1 i_1 - \textcolor{blue}{j} \omega M i_2 \end{equation}$$ $$\begin{equation}V_2=i_2 R_2 - \textcolor{blue}{j} \omega M i_2 + \textcolor{blue}{j} \omega L_2 i_2 \end{equation}$$

V1 V2 R1 R2 i1 L1 i2 L2
Fig. 7.41 Two magnetically coupled inductors using the dot notation.

Finally, for the circuit in Fig. 7.42 KVL becomes $$\begin{equation}V_1=i_1 R_1 + L_1 \frac{di_1}{dt} + M \frac{di_2}{dt} \end{equation}$$ $$\begin{equation}V_2=i_2 R_2 + M \frac{di_1}{dt} + L_2 \frac{di_2}{dt} \end{equation}$$ In AC circuits the previous equations become $$\begin{equation}V_1=i_1 R_1 + \textcolor{blue}{j} \omega L_1 i_1 + \textcolor{blue}{j} \omega M i_2 \end{equation}$$ $$\begin{equation}V_2=i_2 R_2 + \textcolor{blue}{j} \omega M i_2 + \textcolor{blue}{j} \omega L_2 i_2 \end{equation}$$

V1 V2 R1 R2 i1 L1 i2 L2
Fig. 7.42 Two magnetically coupled inductors using the dot notation.

General rule
The above examples, allow us to write the following rule for the sign of the voltage induced by one inductor into the second magnetically coupled inductor:
  1. If a defined current enters the dotted terminal on one coil, it produces a voltage in the other coil that is possitive at the dotted terminal.
  2. If a defined current enters the undotted terminal on one coil, it produces a voltage in the other coil that is possitive at the undotted terminal.

Since the voltage across magnetically coupled inductors is expressed in term of the currents in the ciruit, it is usually much easier to write the mesh equations than the nodal equations.

One more example

Although magnetically coupled inductors must be physically close to each other, they are not always represented in the proximity of each other in circuit diagrams. However, using the dot notation, we can easily identify the two inductors that are magnetically coupled with each other. For instance, consider the circuit in Fig. 7.43. In this circuit, KVL can be written as $$\begin{equation}-V_1 + L_1 \frac{di_1}{dt} - M \frac{di_2}{dt} + R_1(i_1-i_2)\end{equation}$$ $$\begin{equation} i_2 R_2 + V_2 + L_2 \frac{di_2}{dt} - M \frac{di_1}{dt} + R_1(i_2-i_1)\end{equation}$$ while the AC equations become $$\begin{equation}-V_1 + \textcolor{blue}{j} \omega L_1 i_1 - \textcolor{blue}{j} \omega M i_2 + R_1(i_1-i_2)\end{equation}$$ $$\begin{equation}i_2 R_2 + V_2 + \textcolor{blue}{j} \omega L_2 i_2 - \textcolor{blue}{j} \omega M i_1 + R_1(i_2-i_1)\end{equation}$$ Note that the term containing the mutual inductance has a negative sign in the previous equations because:

  1. Current $i_1$ enters in the undotted terminal of $L_1$, therefore it produces a positive voltage at the undotted terminal of the second coil $L_2$. For this reason, when we write KVL for the second loop in the clockwise direction of $i_2$, the voltage induced by $L_1$ in $L_2$ is negative.
  2. Similarly, current $i_2$ enters in the dotted terminal of $L_2$, therefore it produces a positive voltage at the dotted terminal of the first coil $L_1$. For this reason, when we write KVL for the first loop in the clockwise direction of $i_1$, the voltage induced by $L_2$ in $L_1$ is negative.
V1 V2 R1 R2 L1 L2 i1 i2
Fig. 7.43 Two magnetically coupled inductors using the dot notation.

7.2 Ideal Transformer

Under construction!

How to Solve Problems with Ideal Transformers

Under construction!


\(\setSection{8}\)8. Operational Amplifiers

8.1 Ideal Operational Amplifiers

An ideal OmAmp is an OpAmp with input resistance $R_{in}=\infty$, output resistance $R_{out}=0$, and gain $A=\infty$. In practice, real OpAmps have relatively high input resistance (usually over $1 M\Omega$), low output resitance (below $100 \Omega$) and very high gain ($over $10^6$) and can be often approximated with an ideal OpAmp.

OpAmps are unually represented in simplified form, as shown in Fig. 8.44. Notice that, just like in the case of non-ideal OpAmp, the OpAmp is a 4-terminal device and, according to KCL the algebraic sum of the currents flowing out through the 4-terminals is equal to 0. Notice again that if we do not show the ground electrode (see the right diagram in Fig. 8.44), we are still assuming that OpAmmp contains a 4th (ground electrode); for this reason the algebraic sum of the currents flowing out through the 3-terminals of the OpAmp shown in the right diagram in Fig. 8.44 is not necessarily 0. This does not mean that KCL is not satisfied but it only says that the OpAmp contains a 4th electrode (the electrode connected to the ground) which is not shown on the diagram.

A1 A2
Fig. 8.44 Simplified representations of an OpAmp.

A few standard configurations with ideal OpAmps are presented below.

How to solve problems with ideal OpAmps

Since OpAmps have 4 terminals (excluding the lines that power the dependent voltage source) they can be described electrically using three equations (notice that a resistor, which is a 2-terminal device, is described using one equation-Ohm's law; a transistor, which is a 3- terminal deivice, is described using 2 equations, etc.). Using the notations shown in Fig. 8.45, we have:

  • Infite input resistance which implies the folowing two equations
$$\begin{equation}I_{+} = I_{-} = 0\end{equation}$$
  • Infite gain which implies that
$$\begin{equation}V_{+} = V_{-}\end{equation}$$

A1 I+ I- Iout V+ V-
Fig. 8.45 Curents and potentials in ideal OpAmp.
How to use nodal analysis

When using nodal analysis to solve problems with ideal OpAmps, we follow the same algorithm presented in the DC and AC circuit analysis sections. In particular, we:

A. Write the voltage constrained equations for each voltage source (one equation per source). Also, add one voltage constrined equation for each OpAmp, which we impose the potential of the positive input terminal equals the potential of the negative terminal.

B. Write one equation for each control variable.

C. Write KCL equations for regular nodes. Here, we do not write the equation for the node where the output terminal of the OpAmp is connected, as we do not know the value of the current through the output terminal.

D. Write KCL equations for supernodes.

Then, we solve the above system of nodal analysis equations and compute the values of the nodal potentials and control variables. After this, we write the equations for the sought variables as a function of the nodal potentials.

A few examples with ideal OpAmps are presented below.

How to use mesh analysis

To do.

Inverter

A standard configuration for OpAmps is the inverting amplifier shown in Fig. 8.46. The nodal equtions for nodes $v_1$ and $v_2$ are $$\begin{equation}V_{in}=v_1\end{equation}$$ $$\begin{equation}\frac{v_1-v_2}{R_2} + \frac{v_1-v_3}{R_1}=0\end{equation}$$ Since $v_1=0$ and $v_3=V_{out}$ we obtain that $$\begin{equation}\frac{V_{out}}{V_{in}}=-\frac{R_2}{R_1} \end{equation}$$ We notice that in the case of the inverter configuration the total gain depends only on the value of resistors $R_1$ adn $R_2$ and $V_{out}$ in inverted with respect to the input signal.

R2 R1 A + Vout RL Vin v1 v3 v2
Fig. 8.46 Inverting amplifier.
Follower

Another standard configuration for OpAmps is the non-inverting amplifier (follower) shown in Fig. 8.47. The nodal equtions for nodes $v_1$ and $v_3$ are $$\begin{equation}V_{in}=v_1\end{equation}$$ $$\begin{equation}\frac{v_3-v_2}{R_2} + \frac{v_3}{R_1}=0\end{equation}$$ Since $v_1=v_3$ and $v_2=V_{out}$ we obtain that $$\begin{equation}\frac{V_{out}}{V_{in}}=1+\frac{R_2}{R_1}\end{equation}$$ We notice that in the case of the follower configuration the total gain depends only on the value of resistors $R_1$ adn $R_2$ and $V_{out}$ is directly proportioal with the input signal.

A R1 R2 + Vout RL Vin v3 v2 v1
Fig. 8.47 Non-inverting amplifier.
Unit-gain amplifier

A particular case of the fallower configuration is the unit-gain amplifier shown in Fig. 8.48. In this case $$\begin{equation}V_{out}=V_{in}\end{equation}$$ An important benefit of unit gain amplifiers is that the input impedance is very large (infinity in the case of ideal OpAmps), because they do not draw any current from the input source.

Notice that we could also build a "negative" unit gain amplifier using the inverter configuration.

A + Vout RL Vin
Fig. 8.48 Non-inverting amplifier.

8.2 Non-ideal Operational Amplifiers

In the first-order approximation, non-ideal operational amplifiers (or real OpAmps) can be modeled using an input resistor $R_{in}$, an output resistor $R_{out}$, and a dependent voltage source with a gain of $A$ (Fig. 8.49). In a non-ideal OpAmp at least one of the above three quantities are positive and finite. For instance, the OpAmp shown in Fig. 8.50 is also non-ideal because the gain $A$ is finite. An ideal OpAmp has $R_{in}=\infty$, $R_{out}=0$, and $A=\infty$.

+ Vin Rin AVin Rout +
Fig. 8.49 Equivalent circuit of a non-ideal OpAmp in which the input resistance $R_{in}$, output resistance $R_{out}$, and gain $A$ are specified.
AVin + + Vin
Fig. 8.50 Equivalent circuit of a non-ideal OpAmp in which $R_{in}=\infty$, $R_{out}=0$ and $A$ is finite.

OpAmps are unually represented in simplified form, as shown in Fig. 8.51. Notice that, excluding the power lines that are normally necessary to power the dependent voltage source, the OpAmp is a 4-terminal device and, according to KCL the algebraic sum of the currents flowing out through the 4-terminals is equal to 0 . Quite often, to simlify notations, we do not show the ground electrode in when representig OpAmps (see the right diagram in Fig. 8.51). Unfortunately, this representation is somewhat misleading because it suggests that the algrbraic sum of the currents flowing out of the 3 terminals is zero, which is generally not true (because we are missing the 4th, "hidden" electrode).

A1 A2
Fig. 8.51 Simplified representations of an OpAmp.

Table 8.8 shows the values of the input resistance, output resistance and gain for a few OpAmps available commercially. In addition to these parameters manufacturers also specify parameters such maxim voltage, operating range of temperatures, cutoff frequency, transient response time, input noise, etc.

Table 8.8 Common electric components used in linear circuits.
Manufacturer Part No. $A$ $R_{in}$ $R_{out}$ Applications
ST Microelectronics LM324 $10^6$ 2.6 MΩ 20 Ω Low power, general OpAmp
Texas Instruments LM741A $2\times10^5$ 2 MΩ 150 Ω General OpAmp
Texas Instruments OPA132P $10^7$ 10,000 GΩ 100 Ω High-speed OpAmp
Solving problems with non-ideal OpAmps

To solve problems with non-ideal OpAmps it is always recommended to replace the OpAmp with it's equivalent circuit shown in Table 8.6. Then, one can use nodal analysis to compute the sought variables.

Inverter

A standard configuration for OpAmps is the inverting amplifier shown in Fig. 8.52. If the input and output resistances of the OpAmp are $R_{in}$ and $R_{out}$ respectively, and the gain is $A$, it is relatively simple to show that $$\begin{equation}\frac{V_{out}}{V_{in}}=-\frac{1}{\frac{{\color{blue}R_{out}}+R_2}{{\color{blue}A} R_2 - {\color{blue}R_{out}}} \left(1+\frac{R_1}{R_2}+\frac{R_1}{{\color{blue}R_{in}}}\right) + \frac{R_1}{R_2}} \end{equation}$$ In the limit when $R_{in}=\infty$ and $R_{out}=0$, the above equation simplifies to $$\begin{equation}\frac{V_{out}}{V_{in}}=-\frac{1}{\frac{1}{{\color{blue}A}} \left(1+\frac{R_1}{R_2}\right) + \frac{R_1}{R_2}} \end{equation}$$

In the limit when $R_{in}=\infty$, $R_{out}=0$ and $A=\infty$ (i.e. in the case if ideal OpAmps) the above equation simplifies to $$\begin{equation}\frac{V_{out}}{V_{in}}=-\frac{R_2}{R_1} \end{equation}$$ which is the same as the gain of an inverter with ideal OpAmp.

R2 R1 A + Vout RL Vin
Fig. 8.52 Inverting amplifier.
Follower

Another standard configuration for OpAmps is the non-inverting amplifier (follower) shown in Fig. 8.53. If the input and output resistances of the OpAmp are $R_{in}$ and $R_{out}$ respectively, and the gain is $A$, one can show that $$\begin{equation}\frac{V_{out}}{V_{in}}=\frac{\frac{1}{{\color{blue}R_{in}}}+A \frac{\frac{1}{R_1}+\frac{1}{R_2}+\frac{1}{{\color{blue}R_{in}}}}{\frac{{\color{blue}R_{out}}}{R_2}-A} } {\left(\frac{1}{{\color{blue}R_{in}}} + \frac{1}{R_2}\right) \frac{\frac{1}{R_1}+\frac{1}{R_2}+\frac{1}{{\color{blue}R_{in}}}}{\frac{1}{R_2}-\frac{A}{{\color{blue}R_{out}}}} - \frac{1}{R_2}} \end{equation}$$ If $R_{in}=\infty$ (this approximation works well for OpAmps made with FETs), the above equation simplifies to $$\begin{equation}\frac{V_{out}}{V_{in}}= \frac{1}{ \frac{1+\frac{{\color{blue}R_{out}}}{R_2}}{A}+ \frac{1}{\beta}}\end{equation}$$ where we denoted $\beta=1+\frac{R_2}{R_1}$. If also $R_{out}=0$, the above equation simplifies to $$\begin{equation}\frac{V_{out}}{V_{in}}= \frac{1}{ \frac{1}{A}+ \frac{1}{\beta}}\end{equation}$$ Finally, if $R_{in}=\infty$, $R_{out}=0$ and $A=\infty$ (i.e. in the case if ideal OpAmps) we get $$\begin{equation}\frac{V_{out}}{V_{in}}=1+\frac{R_2}{R_1} \end{equation}$$ which is the same as the gain of a follower with ideal OpAmp.

A R1 R2 + Vout RL Vin
Fig. 8.53 Non-inverting amplifier.
Other configurations

Ideal OpAmps have many important applications in electronics, audio- and video-frequency pre-amplifiers and buffers, differential amplifiers, precision rectifiers, peak detectors, voltage and current regulators, analog claculators, anolog-to-digital and digital-to-analog converters, clippers and clampers. When used in combination with inductors and capacitors one can build integrators, differentiators, filters, and oscillators.


\(\setSection{9}\)9. Laplace Transforms

9.1 Introduction

The method of Laplace transform provides a simple way to solve systems of the integro-differetial equations, such that the ones that appear in the study of electric circuits. Not finished...

9.2 The Laplace Transform

The Laplace transform of a function $f(t)$ is defined as $$\begin{equation}ℒ\left[f(t)\right]=F(\textcolor{blue}{s})=\int_{0}^{\infty}f(t)e^{-\textcolor{blue}{s} t} dt\end{equation}$$ where $\textcolor{blue}{s}$ is the complex frequency and function $f(t)$ is assumed to be defined for $t\geq 0$. The Laplace transform is linear $$\begin{equation}ℒ\left[f(t)\right]=F(\textcolor{blue}{s})\int_{0}^{\infty}f(t)e^{-\textcolor{blue}{s} t} dt\end{equation}$$ and has the uniqueness property that for any $f(t)$ there is a unique $F(\textcolor{blue}{s})$.

The Laplace transform can be used to solve integro-differential equations such as the ones that appear in electric circuit analysis. The Laplace transform reduces a linear differential, integral, or integro-differential equation to an algebraic equation, which can then be solved using standard algebraic methods. Finally, the solution of the original equation can found by applying the inverse Laplace transform to the algebraic equation.

9.3 Common Laplace transforms
Table 9.9 Common Laplace transforms.
$f(t)$ $F(\textcolor{blue}{s})=ℒ\left[f(t)\right]$
$1$ $\dfrac{1}{\textcolor{blue}{s}}$
$e^{-at}$ $\dfrac{1}{\textcolor{blue}{s}+a}$
$t^n $ $\dfrac{n!}{\textcolor{blue}{s}^{n+1}}$
$t^n e^{-at}$ $\dfrac{n!}{(\textcolor{blue}{s}+a)^{n+1}}$
$\cos(\omega t)$ $\dfrac{s}{\textcolor{blue}{s}^2+\omega^2}$
$\sin(\omega t)$ $\dfrac{\omega}{\textcolor{blue}{s}^2+\omega^2}$
$\cos(\omega t+\varphi)$ $\dfrac{\textcolor{blue}{s} \cos\varphi-\omega \sin\varphi}{\textcolor{blue}{s}^2+\omega^2}$
$\sin(\omega t+\varphi)$ $\dfrac{\textcolor{blue}{s} \sin\varphi+\omega \cos\varphi}{\textcolor{blue}{s}^2+\omega^2}$
$e^{-at}\cos(\omega t)$ $\dfrac{\textcolor{blue}{s}+a}{(\textcolor{blue}{s}+a)^2+\omega^2}$
$e^{-at}\sin(\omega t)$ $\dfrac{\omega}{(\textcolor{blue}{s}+a)^2+\omega^2}$
$e^{-at}\cos(\omega t+\varphi)$ $\dfrac{(\textcolor{blue}{s}+a) \cos\varphi-\omega \sin\varphi}{(\textcolor{blue}{s}+a)^2+\omega^2}$
$e^{-at}\sin(\omega t+\varphi)$ $\dfrac{(\textcolor{blue}{s}+a) \sin\varphi+\omega \cos\varphi}{(\textcolor{blue}{s}+a)^2+\omega^2}$
9.4 Laplace transforms of integrals and derivatives
Table 9.10 Laplace transforms of integrals and derivatives.
$f(t)$ $F(\textcolor{blue}{s})=ℒ\left[f(t)\right]$
Differentiation$\dfrac{df(t)}{dt}$ $s F(\textcolor{blue}{s}) - f(0)$
Differentiation (n-times)$\dfrac{d^n f(t)}{dt^n}$ $\textcolor{blue}{s}^n F(s) - \textcolor{blue}{s}^{n-1}f(0) - \textcolor{blue}{s}^{n-2}\dfrac{df}{dt}(0) -...-s^0 \dfrac{d^{n-1}f}{dt^{n-1}}(0)$
Integration$\int_{0}^{t} f(\tau) \,d\tau$ $\dfrac{F(\textcolor{blue}{s})}{\textcolor{blue}{s}}$
Convolution$\int_{0}^{t} f_1(\tau)f_2(t-\tau) \,d\tau$ $F_1(\textcolor{blue}{s})F_2(\textcolor{blue}{s})$
9.5 Properties of Laplace transform
Table 9.11 Properties of Laplace transforms.
$f(t)$ $F(\textcolor{blue}{s})=ℒ\left[f(t)\right]$
Addition/subtraction$f_1(t) \pm f_2(t)$ $F_1(\textcolor{blue}{s}) \pm F_2(s)$
Linearity$C_1 f_1(t) \pm C_2 f_2(t)$ $C_1 F_1(\textcolor{blue}{s}) \pm C_2 F_2(\textcolor{blue}{s})$
Time scaling$f(c t)$ $\dfrac{1}{c} F\left(\dfrac{\textcolor{blue}{s}}{c}\right)$
Time shifting$f(t) u (t-t_0)$ $e^{-t_0 \textcolor{blue}{s}} ℒ(f(t+t_0))$
Frequency shifting$e^{-a t} f(t)$ $F(\textcolor{blue}{s}+a)$
Multiplication by $t$$t f(t)$ $-\dfrac{dF(\textcolor{blue}{s})}{ds}$
Multiplication by $t^n$$t^n f(t)$ $(-1)^n \dfrac{d^nF}{d@s^n}$
Division by $t$$\dfrac{f(t)}{t}$ $\int_{0}^{\infty} F(x) \,dx$

9.6 The Inverse Laplace Transform

The inverse Laplace transform is defined as $$\begin{equation}ℒ^{-1}\left[F(s)\right]=\frac{1}{2\pi j}\int_{\sigma_1-j\infty}^{\sigma_1+j\infty}F(s)e^{st} ds\end{equation}$$

Although it is possible to apply the above formula to compute the $ℒ^{-1}\left[F(s)\right]$, in electric circuits we usually compute the inverse Laplace transform using the method of partial fraction decomposition.

9.7 Properties of inverse Laplace transform
Table 9.12 Properties of inverse Laplace transforms.
$F(s)$ $f(t)=ℒ^{-1}\left[F(s)\right]$
Addition/subtraction$F_1(\textcolor{blue}{s}) \pm F_2(s)$ $f_1(t) \pm f_2(t)$
Linearity$C_1 F_1(\textcolor{blue}{s}) \pm C_2 F_2(\textcolor{blue}{s})$ $C_1 f_1(t) \pm C_2 f_2(t)$
Frequency scaling$F(c \textcolor{blue}{s})$ $\dfrac{1}{c} f\left(\dfrac{t}{c}\right)$
Frequency shifting$F(\textcolor{blue}{s}-a)$ $e^{a t} f(t)$
Time shifting$e^{-a@s}F(s)$ $f(t-a)u(t-a)$
Division by $s$$\dfrac{F(\textcolor{blue}{s})}{\textcolor{blue}{s}}$ $\int_{0}^{t} f(x) \,dx$
9.8 Partial fractions decomposition

By partial fraction we understand a fraction in which the numerator is a number (real or complex) and the denominator is a linear polynomial raised to a positive power. Partial fractions are of the form $$\frac{A}{(\textcolor{blue}{s}+a)^n}$$ where $A$ and $a$ are real or complex numbers and $n$ is a positive integer.

It turns out that all polynomial fractions in which the degree of the numerator is less than the degree of the denominator can be writtes as sum of partial fractions using the method of partial fraction decomposition.

9.9 Inverse Laplace transforms of partial fractions
Table 9.13 Inverse Laplace transforms of partial fractions.
$F(\textcolor{blue}{s})$ $f(t)=ℒ^{-1}\left[F(\textcolor{blue}{s})\right]$
$\dfrac{1}{\textcolor{blue}{s}}$$1$
$\dfrac{1}{\textcolor{blue}{s}+a}$$e^{-at}$
$\dfrac{1}{\textcolor{blue}{s}^{n}}$ $\dfrac{t^{n-1}}{(n-1)!}$
$\dfrac{1}{(\textcolor{blue}{s}+a)^{n}}$ $\dfrac{t^{n-1} e^{-at}}{(n-1)!}$

\(\setSection{10}\)10. Time-Dependent Circuits

10.1 Introduction

The currents and voltages in electric circuits can be found by solving a system of equations obtained by writting Kirchhoff’s voltage and current laws (e.g. nodal or mesh analysis). If the circuit contains only voltage and current sources (whose values can change in time) and resistors, inductors and capacitors with fixed values (i.e. the values of R, L, and C do not change in time), this system of equations becomes a system of linear integro-differential equations with constant coefficients. It turns out that the solution of such a system is the superpositon of the homogeneous and prticular solutions. The homogeneous solution gives the natural response of the circuit (also called transient response), while the particular solution gives the forced response of the system. Since the voltage and current sources appear as free terms in the mesh and nodal analysis equations, the homogeneous solution does not depend on the waveforms of the voltage and current sources. Therefore, the natural response of any linear circuit does not depend on the voltage and currents sources and can be computed by seeting them to zero.

Notice that, when we analyzed AC circuits using the formalism of complex analysis, we were assuming that the circuit was driven by the current and voltage sources for long period of time and the transient response "died out". In this way, we were actually computing only the forced response of the system, which was sinusoidal.

In this chapter, we are interested in computing the natural and transient responses of electric circuits. For this purpose, we will first need to learn how to write the system of integro-differential equations and, then, how to solve it. Although systems of integro-differential equations are slightly harder to solve than systems of algebraic equations, since the equations are linear, the system can be reduced to a system of real equations (using the formalism of Laplace transform).

Most methods that are used to study DC and AC circuits can also be used to analyze time-dependent circuits: Ohm's law, current division, voltage division, nodal analysis, mesh analysis, and superposition. It is also worth noticing that, in the case of DC circuits these methods lead to systems of equations with real coefficients; in the case of AC circuits they lead to systems of equations with complex coefficients; in the case of transient circuits, they lead to systems of system of integro-differential equations.

First and second-order transient circuits

In general, a transient circuit is a circuit that is initially at steady-state and, when perturbed (say at $t=0$), it goes through some transient regime in which the potentials and currents in the circuit will change, after which it reaches another steady-state. The circuit will remain in this final steady-state until it is perturbed again. Notice that, in order for a circuit to reach a final steady-state, the current and voltage sources in the circuit needs to be time-independent (at least after a certain period of time); otherwise, the potentials and currents in the circuit will vary in time.

Depending on the order of the differential equation that describes the nodal potentials and branch currents in the circuit, transient circuits can be of first-order, second-order, or higher-order. In general, if the circuit contains $n$ storage elements (i.e. inductors and capacitors), the circuit will be at most of the $n$-th order.

Since first-order transient circuits are described by a first-order differential equation (usually with constant coefficients). For this reason, the solution of the first-order circuits can be often computed analytically (see First-Order Transients).

Ohm's law

Ohm's law holds for any resistor at any moment in time. Using the notations in Fig. 10.54, we have $$\begin{equation}V(t) = R~I(t)\end{equation}$$ or $$\begin{equation}I(t)=\frac{V(t)}{R}\end{equation}$$

+ V(t) I(t) R
Fig. 10.54 Applying Ohm's law to a resistor.
Power

Power is a quantity defined at any moment in time. In the case of time-dependent circuits, it is recommended to call it instanteneous power (instead of just power) to distinguish it from average power, reactive power, and complex power. As we have discussed in the first chapter, the instanteneous power dissipated by any 2-terminal component is

$$\begin{equation}P_d(t)=V(t) I(t)\end{equation}$$
+ V(t) I(t) Z
Fig. 10.55 Computing the instanteneous power dissipated by a 2-terminal component.

where voltage $V(t)$ and current $I(t)$ are shown in Fig. 10.56. The power generated by a 2-terminal component is

$$\begin{equation}P_g(t)=-P_d(t)=-V(t) I(t)\end{equation}$$

10.2 First-Order Transient Circuits

First-order transient circuits are circuits that contain resistors, switches, DC current and DC voltage sources, and only one type of storage element, either and inductor or a capacitor. It turns out that such circuits can be described by a single first-order differential equation that can be found using nodal or mesh analysis.

In first-order transient circuits, we often assume that the circuit is at steady-state before $t=0$ and the state of the switch (closed or opened) is changed only at $t=0$. In this case, it can be shown that all the potentials and currents in the circuit can be written as

$$\begin{equation}x(t)=X+Y e^{-{\frac{t}{\tau}}} = x(\infty)+[x(0^+)-x(\infty)] e^{-{\frac{t}{\tau}}}\end{equation}$$

where $x(t)$ is either $I(t)$ or $V(t)$ and

  • $X=x(0^+)$ is the value of the potential or current immediately after changing the state of the switch ($t=0^+$)
  • $Y=x(0^+)-x(\infty)$ is the value of the voltage or current after a very long time, when the steady-state is reached (this theoretically happens at $t=\infty$ but practically we can assume that it happens for $t>5\tau$)
  • $\tau$ is the relaxation time of the circuit

Therefore, to compute the potentials and currents in the circuit, one can compute constants $X$, $Y$ and $\tau$ (or $x(0^+)$, $x(\infty)$, and $\tau$) and replace them in the previous equation. Next, we describe how to compute these constants.

Compute $x(0^+)$

To compute $x(0^+)$ we need to set the state of the switch for $t>0$ and use any DC analysis method (such as nodal or mesh analysis) to compute the values of the potentials and currents in the circuit immediately after changing the state of the switch. One slight inconvenient, is that we do not know the values of the currents and voltages across the inductors and capacitors. However, these values can be computed based on the following observations:

  • The current going through any inductor cannot change significantly during the infinitesimally short time that we turn the state on of off, because the voltage across the capacitor would go to infinity (remember that $V(t)=L \dfrac{I(t)}{dt}$). Therefore, the current going through any inductor should not change from $t=0^-$ (this is just before we change the state of the switch) until $t=0^+$ (this is just after we change we change the state of the switch).
  • The voltage across any capacitor cannot change significantly during the infinitesimally short time that we turn the switch on or off, because the current going through the inductor would go to infinity (remember that $I(t)=C \dfrac{V(t)}{dt}$). Therefore, the voltage across any capacitor should not change from $t=0^-$ until $t=0^+$.

The above two observations allow us to use the following algorithm to compute $x(0^+)$:

Step 1. Compute the potentials and currents in the circuit for $t<0$. For this purpose we:

A. Set the state of the switch for $t<0$

B. Set the inductor to short-circuit (i.e. replace it with a wire) and the capacitor with open-circuit (i.e. remove it)

C. Use any technique, such as DC nodal or DC mesh analysis, to compute the current going through the inductor (now a short-circuit) if the circuit contains one inductor, or the voltage across the capacitor (or an open-circuit) if the circuit contains one capacitor

Step 2. Compute the potentials and currents in the circuit immediately after changing the state of the switch (at $t=0^+$). For this purpose we:

A. Set the state of the switch for $t>0$

B. Replace the inductors with current sources (i.e. replace them with wires) and the capacitors with open-circuits (i.e. remove them)

C. Use any technique, such as DC nodal or DC mesh analysis, to compute the potentials and currents in the circuit at $t=0^+$, which gives us $x(0^+)$

Compute $x(\infty)$

The potentials or currents in the circuit at $t=\infty$ can be computed by assuming that the circuit reached steady-state. Therefore we:

A. Set the state of the switch for $t>0$

B. Replace the inductors with current sources (i.e. replace them with wires) and the capacitors with open-circuits (i.e. remove them)

C. Use any technique, such as DC nodal or DC mesh analysis, to compute the potentials and currents in the circuit at steady-state, which gives us $x(\infty)$

Compute $\tau$

The relaxation time constant $\tau$ can be found by forming the Thévenin equivalent circuit at the terminals of the storage element (L or C) and computing the Thévenin resistance, $R_{Th}$. Therefore we:

A. Set the state of the switch for $t>0$

B. Remove the storage element so we can compute the Thévenin resistance seen from its terminals

C. Set all independent sources to 0 (i.e. remove all current sources and replace voltage sources with wires). Notice that we do not remove the dependent sources.

D. Use circuit simplification, the test voltage or the test current method to compute $R_{Th}$

E. Compute the relaxation time of the circuit using

$$\begin{equation}\tau=\frac{L}{R_{Th}}\end{equation}$$

if the storage element is an inductor, or

$$\begin{equation}\tau=C R_{Th}\end{equation}$$

if the storage element is a capacitor.

10.3 Nodal Analysis in Time-Dependent Circuits

The nodal analysis method that we introduced for DC and AC circuits can be generalized to time-dependent circuits. In this case, the method results into a system of integro-differential equations, which can be reduced to a system of ordinary differential equations (ODE) that needs to be solved to compute the time-dependent nodal potentials $v_i(t)$, where $i=1,...,n$. The system of nodal analysis equations contains:

  • Voltage constrained equations (one equation for each voltage source)
  • Kirchhoff's current law equations (one equation per node or supernode)
When we solve the system of nodal analysis equations in time-domain, we should always impose initial conditions for the current going throught the inductors and voltage across the capacitors (otherwise, this system would not have unique solution). These initial conditions are usually computed in advance.

Voltage constrained equations

The voltage constrained equations are written in the same way as in the case of DC circuits, the only difference being that the voltages of the sources are time-dependent: $$\begin{equation}V_i(t)=v_{i+}(t)-v_{i-}(t)\end{equation}$$ where $i=1,...,m$ and $v_{i+}(t)-v_{i-}(t)$ is the difference between the potentials of the positive and the negative electrodes of source $m$.

Branch currents

When we write KCL, the branch currents depend on the type of the device, as described in Table 10.14.

Table 10.14 Currents going through various components in terms of nodal potentials. The voltage across each component is $V(t)=v_{+}(t)-v_{-}(t)$.
Name Symbol Branch current (t-domain)
Independent current source I(t) I(t) $$\begin{equation}I(t)\end{equation}$$
Resistor + V(t) I(t) R $$\begin{equation}I(t)=\frac{V(t)}{R}\end{equation}$$
Capacitor + V(t) I(t) C $$\begin{equation}I(t)=C\dfrac{dV(t)}{dt}\end{equation}$$
Inductor + V(t) I(t) L $$\begin{equation}I(t)=I(t_0)+\frac{1}{L}\int_{t_0}^{t}V(t){dt}\end{equation}$$

For instance, the nodal equation in time-domain for node $v_{3}$ for the circuit represented in Fig. 10.56 is

$$\begin{equation}C\dfrac{d(v_{3}-v_{2})(t)}{dt} + I_{L0}+\frac{1}{L_1}\int_{0}^{t}(v_{3}-v_{5}){dt} + \frac{v_{3}-v_{2}}{R_{1}}=0\end{equation}$$

where $I_{L0}$ is the current going through the inductor at $t=0$. Notice that the previous equation is valid for $t>0$. To simplify notations, we have not denoted explicitly that $v_1$,..., $v_5$ are functions of $t$, however, we should consider them as $v_1(t)$,..., $v_5(t)$.

R1 C1 IL0 L1 I1 v2 v3 v1 v5 v4
Fig. 10.56 Nodal analysis in time-domain.
Algorithm
(Notice the similarity with DC circuits)

Assume we have a circuit with $n$ nodes (excluding the ground node), $m$ voltage sources and $c$ control variables.

Step 1. Identify the nodes in the circuit and select one of them as a reference node. The reference node is treated as ground node.

Step 2. Label the potentials at each of the $n$ nodes with $v_1$, $v_2$, ..., $v_n$, where $n$ is the number of nodes (excluding the ground node).

Step 3. Write the system of nodal analysis (ordinary differential) equations, which will have $n+c$ equations ($m$ voltage constrained equations, $n-m$ KCL equations, and $c$ equations for the control variables). It is a good practice two write the $n+c$ equations in the order specified below:

A. Write $m$ voltage constrained equations. Write one voltage constrained equations for each source $$\begin{equation}V_i(t)=v_{i+}(t)-v_{i-}(t)\end{equation}$$ where $i=1,...,m$ and $v_{i+}(t)-v_{i-}(t)$ is the difference between the potentials of the positive and the negative electrodes of source $m$.

B. Write $c$ equations for control variables. Express each control variable (that usually appear in the definition of dependent sources) in terms of the $n$ nodal potentials.

C. Write KCL equations for regular nodes. Write KCL for each of regular node that does not connect a voltage source. When writing KCL, the current through each resistor (or impedance in the case of AC circuits) should be computed using Ohm's law.

D. Write KCL equations for supernodes. Write KCL for each supernode. As before, when writing KCL, the current through each resistor (or impedance) should be computed using Ohm's law.

Step 4. Solve the system on nodal analysis equations to compute the $n$ nodal potentials and $c$ control variables, which, in general, will all now be time-dependent.

Step 5. Compute the sought variables.

10.4 Mesh Analysis in Time-Dependent Circuits

The mesh analysis method that we introduced for DC and AC circuits can be generalized to time-dependent circuits. In this case, the method results into a a system of integro-differential equations which can be reduced to a system of ordinary differential equations (ODE) that needs to be solved to compute the time-dependent mesh currents. The system of nodal analysis equations contains:

  • Current constrained equations (one equation for each current source)
  • Kirchhoff's voltage law equations (one equation per mesh or supermesh)
When we solve the system of mesh analysis equations in time-domain, we should always impose initial conditions for the current going throught the inductors and voltage across the capacitors (otherwise, this system would not have unique solution). These initial conditions are usually computed in advance.

Mesh analysis

The current constrained equations are written in the same way as in the case of DC circuits, the only difference being that the currents of the sources are time-dependent: $$I_i(t)=i_{i1}(t)+i_{i2}(t)$$ where $i=1,...,m$ and $i_{i1}(t)+i_{i2}(t)$ is the algebraic sum of the two mesh currents adjacent to current source $m$.

Voltages across components

When we write KVL, the voltage across each device depends on the type of the device, as described in Table 10.15, where $I(t)$ is the current going through the device, which can be written in terms of the adjacent mesh currents. When all mesh currents are considered to be in the same direction (usually clockwise), one mesh current will usually enter with a plus sign, while the other with a minus sign in the expression of $I(t)$.

Table 10.15 Voltages across various components as a function of the current going through the component. The current going through each device, $I(t)$, can be written in terms of the adjacent mesh currents.
Name Symbol Voltage
Independent voltage source + V(t) V $$\begin{equation}V(t)\end{equation}$$
Resistor + V(t) I(t) R $$\begin{equation}V(t)=I(t){R}\end{equation}$$
Capacitor + V(t) I(t) C $$\begin{equation}V(t)=V(t_0)+\frac{1}{C}\int_{t_0}^{t} I(t) {dt}\end{equation}$$
Inductor + V(t) I(t) L $$\begin{equation}V(t)=L\dfrac{dI(t)}{dt}\end{equation}$$

For instance, the mesh equation in time-domain for mesh current $i_{2}$ in the circuit represented in Fig. 10.57 is

$$\begin{equation}i_{2}R_{2}+V_{C0}+\frac{1}{C_1}\int_{0}^{t}(i_2-i_3){dt} - V_{1} + L\dfrac{d(i_{2}-i_{1})}{dt}=0\end{equation}$$

where $V_{C0}$ is the voltage across the capacitor at $t=0$. Notice that the previous equation is valid for $t>0$. To simplify notations, we have not denoted explicitly that $i_1$, $i_2$, and $i_3$ are functions of $t$, however, we should consider it as $i_1(t)$, $i_2(t)$, and $i_3(t)$.

R1 R2 + VC0 C1 L1 V1 I1 i1 i2 i3
Fig. 10.57 Mesh analysis in time-domain.
Algorithm
(Notice the similarity with DC circuits)

Assume we have a circuit with $n$ meshes (excluding the outside mesh), $m$ current sources and $c$ control variables.

Step 1. Identify the meshes in the circuit. The outside mesh is selected as a reference mesh.

Step 2. Label the currents at each of the $n$ meshes with $i_1$, $i_2$, ..., $i_n$.

Step 3. Write the system of mesh analysis (ordinary differential) equations, which will have $n+c$ equations ($m$ current constrained equations, $n-m$ KVL equations, and $c$ equations for the control variables). It is a good practice two write the $n+c$ equations in the order specified below:

A. Write $m$ current constrained equations. Write one current constrained equations for each source $$\begin{equation}I_i(t)=i_{i1}(i)+i_{i2}(t)\end{equation}$$ where $i=1,...,m$ and $i_{i1}(t)+i_{i2}(t)$ is the algebraic sum of the two mesh currents adjacent to source $m$ going in reference with the direction of the current source. When all mesh currents are considered to be in the same direction (usually clockwise), one mesh current will usually enter with a plus sign, while the other with a minus sign in this formula.

B. Write $c$ equations for control variables. Express each control variable (that usually appear in the definition of dependent sources) in terms of the $n$ mesh currents.

C. Write KVL equations for regular meshes. Write KVL for each of regular mesh that does not connect a current source. When writing KVL, the current through each resistor (or impedance in the case of AC circuits) should be computed using Ohm's law.

D. Write KVL equations for supermeshes. Write KVL for each supermesh. As before, when writing KVL, the current through each resistor (or impedance) should be computed using Ohm's law.

Step 4. Solve the system on mesh analysis equations to compute the $n$ mesh currents and $c$ control variables.

Step 5. Compute the sought variables.

10.5 The Method of Laplace Transform

Instead of writing the solving the system of nodal or mesh analysis in time-domain (which we saw that it leads to a system of integro-differential equations), it is often easier to transform the original circuit in the s-domain. Then, we solve the nodal or mesh analysis equations in the s-domain and, finally, take the invese Laplace transform to compute the sought variables in time-domain.

Notice that, the system of equations that we write for the new circuit (i.e. transformed in the s-domain) is exactly the same as the system of equations that we obtain by writting the nodal or mesh analysis equations in time-domain (using integro-differential equations) and taking the direct Laplace transform of thee equations. Therefore, if you learn the rules of converting a circuit to the s-domain, you are actually skipping two steps: writting the system of integro-differential equations and taking its Laplace transform.

Branch currents in the s-domain

When we write KCL in a nodal analysis, we need to express the branch currents in terms of the nodal potentials. Table 10.16 describes how to write the currents going through different components in nodal analysis. In this table, $u(t)$ is the step function

$$\begin{equation}u(t)=\begin{cases}0, & \text{if $t<0$}.\\1, & \text{otherwise}\end{cases}\end{equation}$$
Table 10.16 Currents going through various components in terms of nodal potentials in the s-domain. The voltage across each component is $V(s)=v_{+}(s)-v_{-}(s)$, where $v_{+}$ and $v_{-}$ are the nodal potentials of the $+$ and $-$ in teh s-domain. In the last two equations, $V_{C}(0)$ is the voltage across the capacitor and $I_L(0)$ is the current going through the inductor at $t=0$ (in time-domain). These initial values need to be computed in advance, before starting the analysis in the s-domain.
Name Symbol Branch current (s-domain)
Independent current source I(s) I0u(t) $$\begin{equation}I(s)=\frac{I_0}{s}\end{equation}$$
Resistor + V(s) I(s) R $$\begin{equation}I(s)=\frac{V(s)}{R}\end{equation}$$
Capacitor + V(s) I(s) C $$\begin{equation}I(s)=sC\cdot V(s)-C\cdot V_{C}(0)\end{equation}$$
Inductor + V(s) I(s) L $$\begin{equation}I(s)=\frac{V(s)}{sL} + \frac{I_{L}(0)}{s}\end{equation}$$

For instance, the nodal equation in s-domain for node $v_{3}$ for the circuit represented in Fig. 10.58 is

$$\begin{equation}sC\cdot (v_{3}-v_{2}) - C\cdot V_{C0} + \frac{I_{L0}}{s} + \frac{v_3-v_5}{sL_1} + \frac{v_{3}-v_{2}}{R_{1}}=0\end{equation}$$

where $I_{L0}$ is the current going through the inductor at $t=0$. Notice that the previous equation is valid for $t>0$. To simplify notations, we have not denoted explicitly that $v_1$,..., $v_5$ are functions of $s$, however, we should consider them as $v_1(s)$,..., $v_5(s)$.

R1 C1 IL0 L1 I1 v2 v3 v1 v5 v4
Fig. 10.58 Nodal analysis in time-domain.
Branch voltages in the s-domain

When we write KCL in a nodal analysis, we need to express the branch currents in terms of the nodal potentials. Table 10.17 describes how to write the currents going through different components in nodal analysis.

Table 10.17 Voltages across various components as a function of the current going through the component in the s-domain. In the last two equations, $V_{C}(0)$ is the voltage across the capacitor and $I_L(0)$ is the current going through the inductor at $t=0$ (in time-domain). These initial values need to be computed in advance, before starting the analysis in the s-domain.
Name Symbol Voltage
Independent voltage source + V(s) V0u(t) $$\begin{equation}V(s)=\frac{V_{0}}{s}\end{equation}$$
Resistor + V(s) I(s) R $$\begin{equation}V(s)=I(s){R}\end{equation}$$
Capacitor + V(s) I(s) C $$\begin{equation}V(s)=\frac{I(s)}{sC} + \frac{V(t_0)}{s}\end{equation}$$
Inductor + V(s) I(s) L $$\begin{equation}V(s)=sL\cdot I(s)-L\cdot I_{L}(0)\end{equation}$$

The mesh equation in s-domain for mesh current $i_{2}$ in the circuit represented in Fig. 10.59 is

$$\begin{equation}i_{2}R_{2}+\frac{V_{C0}}{s}+\frac{i_2-i_3}{sC_1} -V_1 -L\cdot I_{L0} + sL_1\cdot (i_{2}-i_{1})=0\end{equation}$$

where $V_{C0}$ is the voltage across the capacitor at $t=0$. Notice that the previous equation is valid for $t>0$, where $i_1$, $i_2$, and $i_3$ are functions of $s$.

R1 R2 + VC0 C1 L1 V1 I1 i1 i2 i3
Fig. 10.59 Mesh analysis in time-domain.
Algorithm

The algorithm for writting the nodal or mesh analsyis equations in the s-domain is the same as in the DC, AC, or time-dependent case. You can click the links below to see examples on how we write and solve the nodal and mesh analysis equations in the s-domain.

10.6 Additional Analysis Techniques in Time-Dependent Circuits

As we discussed before, in addition to the nodal and mesh analysis methods reviewd in the previous sections, most of the other methods that we learned to study DC and AC circuits can also be used to analyze time-dependent circuits:

Click the links the Examples section to see how we apply these methods to solve different problems in linear circuits.


\(\setSection{11}\)11. Two-port networks

11.1 Introduction

A two-port network is an electric network with two ports, in which each port is connected to an external circuit (see Fig. 11.60). Because of Kirchhoff's current law, the current entering one terminal of each port must equal the current emerging from the other terminal of the same port (this requirement is known as the port condition). Notice that the port condition is not necessarily a restriction that we impose only on the architecture of the two-port network itself, but also on the configuration of the external circuits that can apply voltages and inject currents in the terminals of the network.

It is customary to label the voltages and currents of two-port networks as shown in Fig. 11.60. One of the ports (usually the port on the left) is usually called the input port and is denoted with subscript 1, while the other port is the output port and is denoted with subscript 2.

I1 I1 I2 I2 V1 + - V2 + - Two-port network
Fig. 11.60 Labeling currents and voltages in two-port networks.

An important result related to two-port networks is that currents $I_1$ and $I_2$ depend only on the potential difference at the input and output terminals (i.e. they depend only on $V_1$ and $V_2$ and not on the exact values of the potentials of each terminal). This results can be easily proved using mesh analysis and invoking the port condition. If addition, if the two-port network is linear (which means is made using linear components such as R, L, C, transformers, OpAmps, ideal dependent and independent sources, etc.), we can express the terminal currents as linear combination of the input and output voltages $$\begin{equation}I_1=y_{11}V_1+y_{12}V_2 + i_{10}\end{equation}$$ $$\begin{equation}I_1=y_{21}V_1+y_{22}V_2 + i_{20}\end{equation}$$ where $y_{11}$,...,y_{22}, $i_{10}$, and $i_{20}$ are constant coefficients.

If the two-port network does not contain any independent sources (but can still contains R, L, C and dependent sources), the terminal currents can be expressed as $$\begin{equation}I_1=y_{11}V_1+y_{12}V_2\end{equation}$$ $$\begin{equation}I_2=y_{21}V_1+y_{22}V_2\end{equation}$$ where $y_{ij}$, $i_{10}$ are now called the admittance parameters (or y-parameters) of the linear two-port. In this webbook we are interested only in linear two-ports that do not contain independent sources and in which the input and output terminals satisfy the above relationships. We will also assume that the previous system can be inverted.

Summary of two-port parameters

Any two-port can be completely described using the y-parameters introduced in the previous section. These parameters give terminal currents if the terminal voltages are given. In general, if we know any two quantities (say $I_1$ and $V_1$), the other two quantities (in this case $I_2$ and $V_2$) can be computed by inverting the above equations. Since we have 4 quantities ($I_1$, $I_2$, $V_1$ and $V_2$) and 2 quantities need to be specified and we can compute the other 2 quantities, we can have $\frac{4!}{2! 2!}=6$ cases in total, as shown in the Table 11.18. If you want to see how to compute one set of parameters to another set of parameters, check the Conversion formulas page.

Table 11.18 Two-port parameters.
Name Input quantities Output quantities Parameters
1 Admittance parameters $\begin{bmatrix}V_1\\V_2\end{bmatrix}$ $\begin{bmatrix}I_1\\I_2\end{bmatrix} = \begin{bmatrix}y_{11} & y_{12}\\y_{21} & {y_22}\end{bmatrix} \begin{bmatrix}V_1\\V_2\end{bmatrix}$ $y_{11}$, $y_{12}$, $y_{21}$, $y_{22}$
2 Impedance parameters $\begin{bmatrix}I_1\\I_2\end{bmatrix}$ $\begin{bmatrix}V_1\\V_2\end{bmatrix} = \begin{bmatrix}z_{11} & z_{12}\\z_{21} & {z_22}\end{bmatrix} \begin{bmatrix}I_1\\I_2\end{bmatrix}$ $z_{11}$, $z_{12}$, $z_{21}$, $z_{22}$
3 Hybrid parameters $\begin{bmatrix}V_1\\I_2\end{bmatrix}$ $\begin{bmatrix}V_1\\I_2\end{bmatrix} = \begin{bmatrix}h_{11} & h_{12}\\h_{21} & {h_22}\end{bmatrix} \begin{bmatrix}I_1\\V_2\end{bmatrix}$ $h_{11}$, $h_{12}$, $h_{21}$, $h_{22}$
4 Inverse hybrid parameters $\begin{bmatrix}I_1\\V_2\end{bmatrix}$ $\begin{bmatrix}I_1\\V_2\end{bmatrix} = \begin{bmatrix}g_{11} & g_{12}\\g_{21} & {g_12}\end{bmatrix} \begin{bmatrix}V_1\\I_2\end{bmatrix}$ $g_{11}$, $g_{12}$, $g_{21}$, $g_{22}$
5 Transmission parameters $\begin{bmatrix}I_2\\V_2\end{bmatrix}$ $\begin{bmatrix}V_1\\I_1\end{bmatrix} = \begin{bmatrix}A & B\\C & D\end{bmatrix} \begin{bmatrix}V_2\\-I_2\end{bmatrix}$ $A$, $B$, $C$, $D$ or
$t_{11}$, $t_{12}$, $t_{21}$, $t_{22}$
6 Inverse transmission parameters or
A'B'C'D' parameters
$\begin{bmatrix}I_1\\V_1\end{bmatrix}$ $\begin{bmatrix}V_2\\I_2\end{bmatrix} = \begin{bmatrix}A'' & B'\\C'' & D'\end{bmatrix} \begin{bmatrix}V_1\\-I_1\end{bmatrix}$ $A'$, $B'$, $C'$, $D'$ or
$t'_{11}$, $t'_{12}$, $t'_{21}$, $t'_{22}$

Definitions

Table 11.19 summarizes each of the 6 parameters introduced in the previous section.

Table 11.19 Definitions of two-port parameters.
Admittance parameters Impedance parameters Hybrid parameters Inverse hybrid parameters Transmission parameters Inverse transmission parameters
$$y_{11}=\left.{\frac{I_1}{V_1}} \right|_{V_2=0}$$ $$y_{12}=\left.{\frac{I_1}{V_2}} \right|_{V_1=0}$$ $$y_{21}=\left.{\frac{I_2}{V_1}} \right|_{V_2=0}$$ $$y_{22}=\left.{\frac{I_2}{V_2}} \right|_{V_1=0}$$ $$z_{11}=\left.{\frac{V_1}{I_1}} \right|_{I_2=0}$$ $$z_{12}=\left.{\frac{V_1}{I_2}} \right|_{I_1=0}$$ $$z_{21}=\left.{\frac{V_2}{I_1}} \right|_{I_2=0}$$ $$z_{22}=\left.{\frac{V_2}{I_2}} \right|_{I_1=0}$$ $$h_{11}=\left.{\frac{V_1}{I_1}} \right|_{V_2=0}$$ $$h_{12}=\left.{\frac{V_1}{V_2}} \right|_{I_1=0}$$ $$h_{21}=\left.{\frac{I_2}{I_1}} \right|_{V_2=0}$$ $$h_{22}=\left.{\frac{I_2}{V_2}} \right|_{I_1=0}$$ $$g_{11}=\left.{\frac{I_1}{V_1}} \right|_{I_2=0}$$ $$g_{12}=\left.{\frac{I_1}{I_2}} \right|_{V_1=0}$$ $$g_{21}=\left.{\frac{V_2}{V_1}} \right|_{I_2=0}$$ $$g_{22}=\left.{\frac{V_2}{I_2}} \right|_{V_1=0}$$ $$A=\left.{\frac{V_1}{V_2}} \right|_{I_2=0}$$ $$B=-\left.{\frac{V_1}{I_2}} \right|_{V_2=0}$$ $$C=\left.{\frac{I_1}{V_2}} \right|_{I_2=0}$$ $$D=-\left.{\frac{I_1}{I_2}} \right|_{V_2=0}$$ $$A'=\left.{\frac{V_2}{V_1}} \right|_{I_1=0}$$ $$B'=-\left.{\frac{V_2}{I_1}} \right|_{V_1=0}$$ $$C'=\left.{\frac{I_2}{V_1}} \right|_{I_1=0}$$ $$D'=-\left.{\frac{I_2}{I_1}} \right|_{V_1=0}$$

Applications

Two-port linear networks have applications in filters, mathicng netwworks, amplifiers, transmission lines, antennas, power systems, small-signal analysis of electronic circuits (containing diodes, transistors, etc.), and communication systems. In these applications, two-port networks can used to isolate portions of larger circuits and the two-port network is regarded as a "black box" with its properties specified in matrix form.

11.2 Admittance parameters (y-parameters)

Any linear two-port network is described by the following equations

$$\begin{equation}I_1=y_{11}V_1 + y_{12}V_2\end{equation}$$ $$\begin{equation}I_2=y_{21}V_1 + y_{22}V_2\end{equation}$$

or, in matrix form,

$$\begin{bmatrix}I_1\\I_2\end{bmatrix} = \begin{bmatrix}y_{11} & y_{12}\\y_{21} & y_{22}\end{bmatrix} \begin{bmatrix}V_1\\V_2\end{bmatrix}$$

The 4 parameters are called:

  • $y_{11}$ - short-circuit input admittance
  • $y_{12}$ - short-circuit transfer admittance
  • $y_{21}$ - short-circuit transfer admittance (similar to $y_{12}$)
  • $y_{22}$ - short-circuit output admittance

Measure the admittance parameters

Using the above definition, once can show that the admittance parameters can be computed by using the following equations

$$\begin{equation}y_{11}=\left.{\frac{I_1}{V_1}} \right|_{V_2=0}\end{equation}$$ $$\begin{equation}y_{12}=\left.{\frac{I_1}{V_2}} \right|_{V_1=0}\end{equation}$$ $$\begin{equation}y_{21}=\left.{\frac{I_2}{V_1}} \right|_{V_2=0}\end{equation}$$ $$\begin{equation}y_{22}=\left.{\frac{I_2}{V_2}} \right|_{V_1=0}\end{equation}$$

The above formulas can be used to build the circuit that we need to solve to measure the y-parameters. For instance, if we want to measure the $y_{11}$ parameter, we need to:

  • Short-circuit the output terminals (because the constraint requires $V_{2}=0$ V, which is equivalent to a short-circuit)
  • We connect a voltage source of 1 V at the input terminals (because the denominator in the definition of $y_{11}$ contains a voltage and the subscript is $1$, which denotes the input)
  • Compute current $I_{1}$ at the input terminals (because the numerator in the definition of $y_{11}$ contains a current and the subscript is $1$, which denotes the input)

11.3 Impedance parameters (z-parameters)

Any linear two-port network is described by the following equations

$$\begin{equation}V_1=z_{11}I_1 + z_{12}I_2\end{equation}$$ $$\begin{equation}V_2=z_{21}I_1 + z_{22}I_2\end{equation}$$

or, in matrix form,

$$\begin{bmatrix}V_1\\V_2\end{bmatrix} = \begin{bmatrix}z_{11} & z_{12}\\z_{21} & z_{22}\end{bmatrix} \begin{bmatrix}I_1\\I_2\end{bmatrix}$$

The 4 parameters are called:

  • $z_{11}$ - open-circuit input admittance
  • $z_{12}$ - open-circuit transfer impedance
  • $z_{21}$ - open-circuit transfer impedance (similar to $z_{12}$)
  • $z_{22}$ - open-circuit output impedance

Measure the y-parameters

Using the above definition, once can show that the impendance parameters can be computed by using the following equations

$$\begin{equation}z_{11}=\left.{\frac{V_1}{I_1}} \right|_{I_2=0}\end{equation}$$ $$\begin{equation}z_{12}=\left.{\frac{V_1}{I_2}} \right|_{I_1=0}\end{equation}$$ $$\begin{equation}z_{21}=\left.{\frac{V_2}{I_1}} \right|_{I_2=0}\end{equation}$$ $$\begin{equation}z_{22}=\left.{\frac{V_2}{I_2}} \right|_{I_1=0}\end{equation}$$

The above formulas can be used to build the circuit that we need to solve to measure the z-parameters. For instance, if we want to measure the $z_{12}$ parameter, we need to:

  • Open-circuit the input terminals (because the constraint requires $I_{1}=0$ A, which is equivalent to an open-circuit)
  • We connect a current source of 1 A at the output terminals (because the denominator in the definition of $z_{12}$ contains a current and the subscript is $2$, which denotes the output)
  • Compute voltage $V_{1}$ at the input terminals (because the numerator in the definition of $z_{12}$ contains a current and the subscript is $1$, which denotes the input)

11.4 Hybrid parameters (h-parameters)

Any linear two-port network is described by the following equations

$$\begin{equation}V_1=h_{11}I_1 + h_{12}V_2\end{equation}$$ $$\begin{equation}I_2=h_{21}I_1 + h_{22}V_2\end{equation}$$

or, in matrix form,

$$\begin{bmatrix}V_1\\I_2\end{bmatrix} = \begin{bmatrix}h_{11} & h_{12}\\h_{21} & h_{22}\end{bmatrix} \begin{bmatrix}I_1\\V_2\end{bmatrix}$$

The 4 parameters are called:

  • $h_{11}$ - short-circuit input impedance
  • $h_{12}$ - open-circuit reverse voltage gain
  • $h_{21}$ - short-circuit forward current gain
  • $h_{22}$ - open-circuit output admittance

Measure the h-parameters

Using the above definitiion, once can show that the admittance parameters can be computed by using the following equations

$$\begin{equation}h_{11}=\left.{\frac{V_1}{I_1}} \right|_{V_2=0}\end{equation}$$ $$\begin{equation}h_{12}=\left.{\frac{V_1}{V_2}} \right|_{I_1=0}\end{equation}$$ $$\begin{equation}h_{21}=\left.{\frac{I_2}{I_1}} \right|_{V_2=0}\end{equation}$$ $$\begin{equation}h_{22}=\left.{\frac{I_2}{V_2}} \right|_{I_1=0}\end{equation}$$

The above formulas can be used to build the circuit that we need to solve to measure the h-parameters. For instance, if we want to measure the $h_{21}$ parameter, we need to:

  • Short-circuit the output terminals (because the constraint requires $V_{2}=0$ V, which is equivalent to a short-circuit)
  • We connect a current source of 1 A at the input terminals (because the denominator in the definition of $h_{21}$ contains a current and the subscript is $1$, which denotes the input)
  • Compute current $I_{2}$ at the output terminals (because the numerator in the definition of $h_{21}$ contains a current and the subscript is $2$, which denotes the output)

11.5 Transmission parameters (ABCD-parameters also called t-parameters)

Any linear two-port network is described by the following equations

$$\begin{equation}V_1=A V_2 - B I_2\end{equation}$$ $$\begin{equation}I_1=C V_2 - D I_2\end{equation}$$

or, in matrix form,

$$\begin{bmatrix}V_1\\I_1\end{bmatrix} = \begin{bmatrix}A & B\\C & B\end{bmatrix} \begin{bmatrix}V_2\\-I_2\end{bmatrix}$$

The 4 parameters are called:

  • $A$ - open-circuit voltage ratio
  • $B$ - negative short-circuit transfer impedance
  • $C$ - open-circuit transfer admittance
  • $D$ - negative short-circuit current ratio
Sometimes, the transmission parameter are denoted by $t_{ij}$ and $$\begin{bmatrix}A & B\\C &D\end{bmatrix} = \begin{bmatrix}t_{11} & t_{12}\\t_{21} & t_{22}\end{bmatrix}$$

Measure the y-parameters

Using the above definitiion, once can show that the admittance parameters can be computed by using the following equations

$$\begin{equation}A=\left.{\frac{V_1}{V_2}} \right|_{I_2=0}\end{equation}$$ $$\begin{equation}B=-\left.{\frac{V_1}{I_2}} \right|_{V_2=0}\end{equation}$$ $$\begin{equation}C=\left.{\frac{I_1}{V_2}} \right|_{I_2=0}\end{equation}$$ $$\begin{equation}D=-\left.{\frac{I_1}{I_2}} \right|_{V_2=0}\end{equation}$$

The above formulas can be used to build the circuit that we need to solve to measure the transmission parameters. For instance, if we want to measure the $A$ parameter, we need to:

  • Open-circuit the output terminals (because the constraint requires $I_{2}=0$ A, which is equivalent to an open-circuit)
  • Since we open-circuited the output terminals, we can connect a voltage source of 1 V at the input terminals (because the numerator in the definition of $A$ contains a voltage and the subscript is $1$, which denotes the input), and
  • Compute voltage $V_{2}$ at the output terminals (because the numerator in the definition of $A$ contains a current and the subscript is $2$, which denotes the output)
If we want to compute the $B$ parameter, we need to:
  • Short-circuit the output terminals (because the constraint requires $V_{2}=0$ V, which is equivalent to a short-circuit)
  • Since we short-circuited the output terminals, we can connect a voltage source of 1 A at the input terminals (because the numerator in the definition of $B$ contains a voltage and the subscript is $1$, which denotes the input), and
  • Compute current $I_{2}$ at the output terminals (because the numerator in the definition of $B$ contains a current and the subscript is $2$, which denotes the output)

11.6 Inverse hybrid parameters (g-parameters)

Any linear two-port network is described by the following equations

$$\begin{equation}I_1=g_{21}I_2 + g_{22}V_1\end{equation}$$ $$\begin{equation}V_2=g_{11}I_2 + g_{12}V_1\end{equation}$$

or, in matrix form,

$$\begin{bmatrix}I_1\\V_2\end{bmatrix} = \begin{bmatrix}g_{11} & g_{12}\\g_{21} & g_{12}\end{bmatrix} \begin{bmatrix}V_1\\I_2\end{bmatrix}$$
Measure the g-parameters

Using the above definitiion, once can show that the admittance parameters can be computed by using the following equations

$$\begin{equation}g_{11}=\left.{\frac{I_1}{V_1}} \right|_{I_2=0}\end{equation}$$ $$\begin{equation}g_{12}=\left.{\frac{I_1}{I_2}} \right|_{V_1=0}\end{equation}$$ $$\begin{equation}g_{21}=\left.{\frac{V_2}{V_1}} \right|_{I_2=0}\end{equation}$$ $$\begin{equation}g_{22}=\left.{\frac{V_2}{I_2}} \right|_{V_1=0}\end{equation}$$

The above formulas can be used to build the circuit that we need to solve to measure the g-parameters. For instance, if we want to measure the $g_{22}$ parameter, we need to:

  • Short-circuit the input terminals (because the constraint requires $V_{1}=0$ V, which is equivalent to a short-circuit)
  • We connect a current source of 1 A at the output terminals (because the denominator in the definition of $g_{22}$ contains a current and the subscript is $2$, which denotes the output)
  • Compute voltage $V_{2}$ at the output terminals (because the numerator in the definition of $g_{22}$ contains a current and the subscript is $2$, which denotes the output)

11.7 Inverse transmission parameters (A'B'C'D'-parameters also called t'-parameters)

Any linear two-port network is described by the following equations

$$\begin{equation}V_2=A' V_1 - B' I_1\end{equation}$$ $$\begin{equation}I_2=C' V_1 - D' I_1\end{equation}$$

or, in matrix form,

$$\begin{bmatrix}V_2\\I_2\end{bmatrix} = \begin{bmatrix}A & B\\C & B\end{bmatrix} \begin{bmatrix}V_1\\-I_1\end{bmatrix}$$
Measure the y-parameters

Using the above definitiion, once can show that the admittance parameters can be computed by using the following equations

$$\begin{equation}A'=\left.{\frac{V_2}{V_1}} \right|_{I_1=0}\end{equation}$$ $$\begin{equation}B'=-\left.{\frac{V_2}{I_1}} \right|_{V_1=0}\end{equation}$$ $$\begin{equation}C'=\left.{\frac{I_2}{V_1}} \right|_{I_1=0}\end{equation}$$ $$\begin{equation}D'=-\left.{\frac{I_2}{I_1}} \right|_{V_1=0}\end{equation}$$

The above formulas can be used to build the circuit that we need to solve to measure the transmission parameters. For instance, if we want to measure the $A'$ parameter, we need to:

  • Open-circuit the input terminals (because the constraint requires $I_{1}=0$ A, which is equivalent to an open-circuit)
  • Since we open-circuited the input terminals, we can connect a voltage source of 1 V at the output terminals (because the numerator in the definition of $A'$ contains a voltage and the subscript is $2$, which denotes the output), and
  • Compute voltage $V_{1}$ at the input terminals (because the numerator in the definition of $A'$ contains a current and the subscript is $1$, which denotes the input)
If we want to compute the $B'$ parameter, we need to:
  • Short-circuit the input terminals (because the constraint requires $V_{1}=0$ V, which is equivalent to a short-circuit)
  • Since we short-circuited the input terminals, we can connect a voltage source of 1 A at the output terminals (because the numerator in the definition of $B'$ contains a voltage and the subscript is $2$, which denotes the output), and
  • Compute current $I_{1}$ at the input terminals (because the numerator in the definition of $B'$ contains a current and the subscript is $1$, which denotes the input)

11.8 Two-port parameter conversion formulas

Table 11.20 gives the coversion formulas between the 4 two-port networks presented in this chapter. $\Delta_Y$, $\Delta_Z$, $\Delta_H$, and $\Delta_T$ refer to determinants of the $Y$, $Z$, $H$ and transmittance parameters matrices (e.g. $\Delta_Y=y_{11}y_{22}-y_{12}y_{21}$, ...).

Table 11.20 Two-port conversion formulas.
Y Z H T
Y $\begin{bmatrix}y_{11} & y_{12}\\y_{21} & {y_{22}}\end{bmatrix}$ $\frac{1}{\Delta_Z}\times \begin{bmatrix}z_{22} & -z_{12}\\-z_{21} & z_{11}\end{bmatrix}$ $\frac{1}{h_{11}}\times \begin{bmatrix}1 & -h_{12}\\h_{21} & \Delta_H\end{bmatrix}$ $\frac{1}{B}\times \begin{bmatrix}D & -\Delta_T\\-1 & A\end{bmatrix}$
Z $\frac{1}{\Delta_Z}\times \begin{bmatrix}y_{22} & -y_{12}\\-y_{21} & y_{11}\end{bmatrix}$ $\begin{bmatrix}z_{11} & z_{12}\\z_{21} & {z_{22}}\end{bmatrix}$ $\frac{1}{h_{22}}\times \begin{bmatrix}\Delta_H & h_{12}\\-h_{21} & 1\end{bmatrix}$ $\frac{1}{C}\times \begin{bmatrix}A & \Delta_T\\1 & D\end{bmatrix}$
H $\frac{1}{y_{11}}\times \begin{bmatrix}1 & -y_{12}\\y_{21} & \Delta_Y\end{bmatrix}$ $\frac{1}{z_{22}}\times \begin{bmatrix}\Delta_Z & z_{12}\\-z_{21} & 1\end{bmatrix}$ $\begin{bmatrix}h_{11} & h_{12}\\h_{21} & {h_{22}}\end{bmatrix}$ $\frac{1}{D}\times \begin{bmatrix}B & \Delta_T\\-1 & C\end{bmatrix}$
T $\frac{1}{y_{21}}\times \begin{bmatrix}-y_{22} & -1\\-\Delta_Y & -y_{11}\end{bmatrix}$ $\frac{1}{z_{21}}\times \begin{bmatrix}z_{11} & \Delta_Z\\1 & z_{22}\end{bmatrix}$ $\frac{1}{h_{21}}\times \begin{bmatrix}-\Delta_H & -h_{11}\\-h_{22} & -1\end{bmatrix}$ $\begin{bmatrix}A & B\\C &D\end{bmatrix}$
How to convert from one set of parameters to another

To convert from the set of parameters to another, we first write the current-voltage characteristics of the network in the first set and define the variable of the second set as new unknowns. Then, we solve the system of two equtions in the new unknowns.

For instance, assume we know the y-parameters of a nework and want to find the h-parameters. First we write the current-voltage characteristics of the network using the y-parameters $$\begin{equation}I_1=y_{11}{\color{red}V_1} + y_{12}V_2\end{equation}$$ $$\begin{equation}{\color{red}I_2}=y_{21}{\color{red}V_1} + y_{22}V_2\end{equation}$$ Then, since we want compute the values of the h-parameters, we need to solve the above system of equations for ${\color{red}V_1}$ and ${\color{red}I_2}$. We obtain $$\begin{equation}{\color{red}V_1}=\frac{I_1}{y_{11}} -\frac{y_{12}}{y_{11}}V_2\end{equation}$$ $$\begin{equation}{\color{red}I_2}=\frac{y_{21}}{y_{11}}I_1 + (y_{22}-\frac{y_{12}y_{21}}{y_{11}})V_2\end{equation}$$ which can be written as $$\begin{equation}\begin{bmatrix}{\color{red}V_1}\\{\color{red}I_2}\end{bmatrix} = \begin{bmatrix}\frac{1}{y_{11}} & -\frac{y_{12}}{y_{11}}\\\frac{y_{21}}{y_{11}} & \frac{y_{22}y_{11}-y_{12}y_{21}}{y_{11}}\end{bmatrix} \begin{bmatrix}I_1\\V_2\end{bmatrix}\end{equation}$$ The $2\times 2$ matrix in the right hand side of the last equation, can be identified as the matrix of hybrid parameters (see also Table 11.20).

11.9 AC filters

In electronics, an AC filter is a two-port device that removes a range of frequencies from a signal. Because filters are usually an intermediate components in a larger electric network, it is common to include the load impedance when we analyze the properties of the filter (see Fig. 11.61). For this reason, the properties of AC filters depend on and are usually specified for a particular load. The input port is usually driven by another component of the network that has a low output resistance (or impendace); for this reason we will often connect either a voltage or a current source when we study the properties of the filter.

AC filters can be either linear or nonlinear however, in this webbook, we are interested only in linear AC filters. Using the same notations for the input and output currents and voltages as for two-port networks a filter can be represented like in Fig. 11.61.

+ V2 ZL I1 I1 I2 I2 V1 + - AC network
Fig. 11.61 Voltage and currents in an AC filter. The load impedance is often included in the analysis when computing the properties of AC filters.

Transfer functions

There are four important transfer functions that used to characterize a filter. These transfer function are summarized in Table 11.21. Depending on the tranfer function, each transfer function can be calculated by connecting a current or voltage source at the input port and computing the output voltage or current.

Table 11.21 Transfer functions of filters.
Transfer function Definitition Units
1 Voltage gain $G_{v}=\frac{V_2}{V_1}$
2 Current gain $G_{v}=\frac{I_2}{I_1}$
3 Driving point transimpedance $Z=\frac{V_2}{I_1}$ $\textcolor{gray}{Ω}$
4 Driving point transadmittance $Y=\frac{I_2}{V_1}$ $\textcolor{gray}{S}$

The transfer functions of AC filters can be represented as a fraction of two polynomials in variable $\textcolor{blue}{s}$ (if you skipped the sections about Laplace transforms, you can think of $\textcolor{blue}{s}$ as a notation for $\textcolor{blue}{s}=\textcolor{blue}{j} w$) $$\begin{equation}H(\textcolor{blue}{s})=\frac{P(\textcolor{blue}{s})}{Q(\textcolor{blue}{s})}=\frac{a_m \textcolor{blue}{s}^m + a_{m-1} \textcolor{blue}{s}^{m-1}+...+a_1 \textcolor{blue}{s} +a_0}{b_n \textcolor{blue}{s}^n + b_{n-1} \textcolor{blue}{s}^{n-1}+...+b_1 \textcolor{blue}{s} +b_0}\end{equation}$$ This equation can also be written as $$\begin{equation}H(\textcolor{blue}{s})=K_0 \frac{(\textcolor{blue}{s}-z_1)(\textcolor{blue}{s}-z_2)...(\textcolor{blue}{s}-z_m)}{(\textcolor{blue}{s}-p_1)(\textcolor{blue}{s}-p_2)...(\textcolor{blue}{s}-p_n)}\end{equation}$$ where $K_0$ is a constant, $z_1$,...,$z_m$ are the roots of $P(\textcolor{blue}{s})$ (also called zeros of the transfer function, and $p_1$,...,$p_n$ are the roots of $Q(\textcolor{blue}{s})$ (also called poles of the tranfer function). In addition, it can be shown that the two polynomials must have the following properties:

  • The coefficients of $P(\textcolor{blue}{s})$ and $Q(\textcolor{blue}{s})$ must be real and positive.
  • If any zero or pole of the transfer is function is complex, then there is also a zero or pole that is the complex conjugate (imaginary poles and zeros must be conjugate).
  • The real part of the poles must be negative or zero.
  • There should not be any missing term between the highest and lowest degree of $Q(\textcolor{blue}{s})$, unless all the even or odd terms are missing.
  • The polynomial $P(\textcolor{blue}{s})$ may have negative terms or even some missing terms between the highest and lowest degree.

Types of filters

Filters can be classified into different types by looking at the frequencies at which the signals can pass or a being significantly atttenuated or rejected:

  • Low-pass filter: low frequencies are passed, high frequencies are attenuated.
  • High-pass filter: high frequencies are passed, low frequencies are attenuated.
  • Band-pass filter: only frequencies in a frequency band are passed.
  • Band-stop filter or band-reject filter: only frequencies in a frequency band are attenuated.
  • All-pass filter: all frequencies are passed, but the phase of the output is modified.
And, of couse, there are filters that do not fit in any of the above categories. Table 11.22 gives examples of transfer functions for each of the above types of filters.

Table 11.22 Filter types with examples of transfer functions.
Filter type Examples of fransfer functions ($\textcolor{blue}{s}$-domain) Examples of transfer functions ($\omega$-domain)
1 Low-pass filter $$\begin{aligned}H(\textcolor{blue}{s})&=\frac{1}{\textcolor{blue}{s}-p_1} \\ H(\textcolor{blue}{s})&=\frac{1}{(\textcolor{blue}{s}-p_1)(\textcolor{blue}{s}-p_2)...(\textcolor{blue}{s}-p_n)}\end{aligned}$$ $$H(\textcolor{blue}{j}\omega)=\frac{1}{1 + \textcolor{blue}{j}\omega\tau}$$
2 High-pass filter $$\begin{aligned}H(\textcolor{blue}{s})&=\frac{\textcolor{blue}{s}}{\textcolor{blue}{s}-p_1} \\ H(\textcolor{blue}{s})&=\frac{\textcolor{blue}{s}^n}{(\textcolor{blue}{s}-p_1)(\textcolor{blue}{s}-p_2)...(\textcolor{blue}{s}-p_n)}\end{aligned}$$ $$H(\textcolor{blue}{j}\omega)=\frac{\textcolor{blue}{j}\omega\tau}{1 + \textcolor{blue}{j}\omega\tau}$$
3 Band-pass filter $$\begin{aligned}H(\textcolor{blue}{s})&=\frac{\textcolor{blue}{s}}{(\textcolor{blue}{s}-p_1)(\textcolor{blue}{s}-p_2)} \\ H(\textcolor{blue}{s})&=\frac{\textcolor{blue}{s}^m}{(\textcolor{blue}{s}-p_1)...(\textcolor{blue}{s}-p_n)}\;\text{such that}\;m \lt n\end{aligned}$$ $$H(\textcolor{blue}{j}\omega)=\frac{\textcolor{blue}{j}\omega\tau}{\textcolor{blue}{j}\left(\omega^2/\omega_0^2-1\right) + \omega\tau}$$
4 Band-stop filter $$\begin{aligned}H(\textcolor{blue}{s})&=\frac{\textcolor{blue}{s}^2-z_1^2}{(\textcolor{blue}{s}-p_1)(\textcolor{blue}{s}-p_2)}\;\text{such that}\;|p_1|\ll|z_1|\ll|p_2| \\ H(\textcolor{blue}{s})&=\frac{(\textcolor{blue}{s}-z_1)(\textcolor{blue}{s}-z_2)}{(\textcolor{blue}{s}-p_1)(\textcolor{blue}{s}-p_2)}\;\text{such that}\;|p_1|\ll|z_1|\le|z_2|\ll|p_2|\end{aligned}$$
5 All-pass filter $$H(\textcolor{blue}{s})=K_0$$

Notice that the different types of filters shown in the Table 11.22, have the following propoerties.

Low-pass filters: $$\begin{aligned}\lim_{\textcolor{blue}{s}\to\infty} H(\textcolor{blue}{s})&=0 \\ \lim_{\textcolor{blue}{s}\to 0} H(\textcolor{blue}{s})&=\text{finite}\end{aligned}$$ High-pass filters: $$\begin{aligned}\lim_{\textcolor{blue}{s}\to\infty} H(\textcolor{blue}{s})&=\text{finite}\\ \lim_{\textcolor{blue}{s}\to 0} H(\textcolor{blue}{s})&=0\end{aligned}$$ Band-pass filters: $$\begin{aligned}\lim_{\textcolor{blue}{s}\to\infty} H(\textcolor{blue}{s})&=0 \\ \lim_{\textcolor{blue}{s}\to 0} H(\textcolor{blue}{s})&=0\end{aligned}$$ Band-stop filters: $$\begin{aligned}\lim_{\textcolor{blue}{s}\to\infty} H(\textcolor{blue}{s})&=\text{finite} \\ \lim_{\textcolor{blue}{s}\to 0} H(\textcolor{blue}{s})&=\text{finite}\end{aligned}$$ $$\begin{aligned}\lim_{\textcolor{blue}{s}\to\infty} H(\textcolor{blue}{s})&\gg H(\textcolor{blue}{s}) \\ \lim_{\textcolor{blue}{s}\to 0} H(\textcolor{blue}{s})&\gg H(\textcolor{blue}{s})\end{aligned}$$ All-pass filters: $$|H(\textcolor{blue}{s})|\;\text{does not depend on }\: \textcolor{blue}{s}$$

11.10 Bode plots

A Bode plot is a graph of the frequency response of a system. In general, a Bode plot consists of two graphs: the Bode magnitude plot and the Bode phase plot. The ordinate of the graph denotes the frequency (usualy on a log scale) while the abscisa denotes the magnitude or the phase of response function. CircuitsU can generate two types of problems in which the student has to:

  1. Draw the Bode magnitue plot of a given transfer function $H(\textcolor{blue}{s})$
  2. Find the transfer function $H(\textcolor{blue}{s})$ correspoding to a given Bode magnitude plot
Only the magnitude Bode plots are currently implemented in CircuitsU.

Standard form of a transfer function

To draw the Bode plot of a transfer function $H(\textcolor{blue}{s})$, it is instrumental to first bring $H(\textcolor{blue}{s})$ to its standard form. The standard form of a transfer function is obtained by writting it as the ratio of two polynomials of the complex frequency $\textcolor{blue}{s}$, in which each polynomial is written as the product of first or second order polynomials in $\textcolor{blue}{s}$ with real coefficients: $$\begin{equation}H(\textcolor{blue}{s})=K_0 \textcolor{blue}{s}^{\pm N} \times \frac{ \left(1 + \frac{\textcolor{blue}{s}}{\omega_{11}}\right)^{n_{11}} \left(1 + \frac{\textcolor{blue}{s}}{\omega_{12}}\right)^{n_{12}} ...\left(1 + \frac{2 \zeta_{21} \textcolor{blue}{s}}{\omega_{21}} +\frac{\textcolor{blue}{s}^2}{\omega_{21}^2}\right)^{n_{21}}...} {\left(1 + \frac{\textcolor{blue}{s}}{\omega_{31}}\right)^{n_{31}} \left(1 + \frac{\textcolor{blue}{s}}{\omega_{32}}\right)^{n_{32}} ...\left[1 + \frac{2 \zeta_{41} \textcolor{blue}{s}}{\omega_{41}} +\frac{\textcolor{blue}{s}^2}{\omega_{41}^2}\right]^{n_{41}}...} \end{equation}$$ or, in terms of $\textcolor{blue}{s}=\textcolor{blue}{j} \omega$ $$\begin{equation}H(\textcolor{blue}{j} \omega)=K_0 (\textcolor{blue}{j} \omega)^{\pm N} \times \frac{ \left(1 + \frac{\textcolor{blue}{j} \omega}{\omega_{11}}\right)^{n_{11}} \left(1 + \frac{\textcolor{blue}{j} \omega}{\omega_{12}}\right)^{n_{12}} ... \left[1 + 2 \zeta_{21} \frac{\textcolor{blue}{j} \omega}{\omega_{21}} +\frac{(\textcolor{blue}{j} \omega _{21})^2}{\omega_{21}^2}\right]^{n_{21}}...} {\left(1 + \frac{\textcolor{blue}{j} \omega}{\omega_{31}}\right)^{n_{31}} \left(1 + \frac{\textcolor{blue}{j} \omega}{\omega_{32}}\right)^{n_{32}} ... \left[1 + 2 \zeta_{41} \frac{\textcolor{blue}{j} \omega}{\omega_{41}} +\frac{(\textcolor{blue}{j} \omega _{41})^2}{\omega_{41}^2}\right]^{n_{41}}...} \end{equation}$$ In the above expressions:

  1. $K_0$ is a frequency-independent factor.
  2. $\omega_{ij}$ are called break frequencies. The break frequencies can be either zeros if they appear in the numerator or poles if they appear in the denominator of the main fraction.
  3. $\zeta_{ij}$ are the damping factors associated with the respective breaking frequencies. Notice that $ 0 \le \zeta_{ij} \lt 1 $, otherwise, this term has real roots and degenerates into two zeros or poles. The damping factors can be associated only with complex zeros and poles.
  4. $n_{ij}$ are the orders associated with the respective breaking frequencies ($n_{ij} = 1, 2, 3,...$).
  5. The roots of the second order polynomials (or quadratic terms) are complex, with a non-zero imaginary part. If the roots of the quadratic terms were real, they should be split into the product of two first order polynomials with real roots.
In addition, we can identify the following terms:
Term Expression Comments
Zero at the origin $(\textcolor{blue}{j} \omega)^{N}$ $N$ is the order of the zero
Pole at the origin $(\textcolor{blue}{j} \omega)^{-N}$ $N$ is the order of the pole
Simple zero/pole
(also called real zero/pole)
$1 + \frac{\textcolor{blue}{j} \omega}{\omega_{0}}$ $\omega_0=\omega_{ij}$ is the break frequency
Simple zero/pole of order $n$
(also called real zero/pole)
$\left(1 + \frac{\textcolor{blue}{j} \omega}{\omega_{0}}\right)^{n}$ $n=n_{ij}$ is the order of the zero or pole
Quadratic zero/pole
(also called complex zero/pole)
$1 + 2 \zeta \frac{\textcolor{blue}{j} \omega}{\omega_{0}} +\frac{(\textcolor{blue}{j} \omega)^2}{\omega_{0}^2}$ $\zeta=\zeta_{ij}$ is the damping factor
Quadratic zero/pole or order $n$
(also called complex zero/pole)
$\left[1 + 2 \zeta \frac{\textcolor{blue}{j} \omega}{\omega_{0}} +\frac{(\textcolor{blue}{j} \omega)^2}{\omega_{0}^2}\right]^n$

Bode magnitude plots

The easiest way to make the Bode magnitude plot for a given transfer function is to plot the absolute value of $20 \log |H(\textcolor{blue}{j} \omega)|$ as a function of $\omega$ using tools such as Python, Matlab, Excel, etc. The plot made in this way provides the exact values of the transfer function and is represetented in the figures below using dashed lines. However, if such tools are not available (which is unlikely ourdays!) it is possible to sketch the plot using a number of simple rules that will be discussed below.

In general, when we make the Bode magnitude plot, it is customary to represent $20 \log |H(\textcolor{blue}{j} \omega)|$ instead of $|H(\textcolor{blue}{j} \omega)|$. The units of $20 \log |H(\textcolor{blue}{j} \omega)|$ are $\: \textcolor{gray}{dB}$ (decibels). On a log scale, and if the break frequencies are well separated from each other, the Bode magnitude plot appears to be made of straight lines, for which reason we often start by approximating the plot with straight lines that are sometimes connected with round (smooth) curves at the vertexes. Such a plot is called the straight-line Bode magnitude plot.

The straight-line Bode magnitude plot approximates the exact plot relatively well if the the break frequencies are separated from each other by a factor of at least 5-10 fold (that means that each break frequency is at least 5-10 times larger than the previous one). In this case, the shape of the Bode magnitude plot around the break frequency is mostly given by the properties of that break frequency and is not influenced much by the neighboring break points. Therefore, it is useful to analyze the Bode magnitude plots given by the different types of break frequencies separately. The table below describes the shape of the Bode magnitude plot for different types of break points and gives a few examples.

Behavior Examples
Zero at the origin
$(\textcolor{blue}{j} \omega)^{N}$
  • The Bode magnitude plot starts with a $20 \times N \: \textcolor{gray}{dB/dec}$ slope at low frequencies
The example on the right shows the Bode magnitude plot for $H(\textcolor{blue}{j} \omega)=(\textcolor{blue}{j} \omega)^{2}$.
Pole at the origin
$(\textcolor{blue}{j} \omega)^{-N}$
  • The Bode magnitude plot starts with a $-20 \times N \: \textcolor{gray}{dB/dec}$ slope at low frequencies
The example on the right shows the Bode magnitude plot for $H(\textcolor{blue}{j} \omega)=\frac{1}{\textcolor{blue}{j} \omega}$.
Simple zeros
$\left(1 + \frac{\textcolor{blue}{j} \omega}{\omega_{0}}\right)^n$
  • A zero of order $n$ increases the slope at its break frequency by $20 n \: \textcolor{gray}{dB/dec}$
  • The difference between the staight-line Bode magnitude plot and the exact value is $3.01 n\approx 3 n \: \textcolor{gray}{dB}$
The example on the right shows the Bode magnitude plot for $H(\textcolor{blue}{j} \omega)=\left(1 + \frac{\textcolor{blue}{j} \omega}{5}\right)^2$. The difference between the exact Bode magnitude plot and the straight-line Bode magnitude plot at the the break frequency is $3.01\cdot 2=6.02$.
Simple poles
$\frac{1}{\left(1 + \frac{\textcolor{blue}{j} \omega}{\omega_{0}}\right)^n}$
  • A pole of order $n$ decreases the slope at its break frequency by $20 n \: \textcolor{gray}{dB/dec}$
  • The difference between the staight-line Bode magnitude plot and the exact value is $-3.01 n\approx -3 n \: \textcolor{gray}{dB}$
The example on the right shows the Bode magnitude plot for $H(\textcolor{blue}{j} \omega)=\frac{1}{\left(1 + \frac{\textcolor{blue}{j} \omega}{10}\right)^3}$. The difference between the exact Bode magnitude plot and the straight-line Bode magnitude plot at the the break frequency is $-3.01\cdot 3=-9.03$.
Complex zeros
$1 + 2 \zeta \frac{\textcolor{blue}{j} \omega}{\omega_{0}} +\frac{(\textcolor{blue}{j} \omega)^2}{\omega_{0}^2}$
  • A complex zero increases the slope at its break frequency by $40 \: \textcolor{gray}{dB/dec}$
  • The difference between the staight-line Bode magnitude plot and the exact value is $-20 \log(2\zeta) \: \textcolor{gray}{dB}$, where $\zeta$ is the damping factor
  • If $\zeta \lt \frac{\sqrt{2}}{2}$ the exact Bode magnitude plot has a peak at $\omega_{max}=\omega_0 \sqrt{1-2\zeta^2}$. The difference between the staight-line Bode magnitude plot and the exact value at $\omega_{max}$ is $-20 \log\left(2\zeta\sqrt{1-\zeta^2}\right) \: \textcolor{gray}{dB}$
The example on the right shows the Bode magnitude plot for $H(\textcolor{blue}{j} \omega)=1 + 2 \cdot 0.6\cdot \frac{\textcolor{blue}{j} \omega}{15} +\frac{(\textcolor{blue}{j} \omega)^2}{15^2}$. Since $\zeta \lt 0.7$ the exact Bode magnitude plot has a minimum at $\omega_{max}=15\cdot \sqrt(1-2\cdot 0.6^2) \approx 7.94$.
Complex poles
$\frac{1}{1 + 2 \zeta \frac{\textcolor{blue}{j} \omega}{\omega_{0}} +\frac{(\textcolor{blue}{j} \omega)^2}{\omega_{0}^2)}}$
  • A complex pole decreases the slope at its break frequency by $40 \: \textcolor{gray}{dB/dec}$
  • The difference between the staight-line Bode magnitude plot and the exact value is $20 \log(2\zeta) \: \textcolor{gray}{dB}$, where $\zeta$ is the damping factor
  • If $\zeta \lt \frac{\sqrt{2}}{2} \approx 0.7$ the exact Bode magnitude plot has a peak at $\omega_{max}=\omega_0 \sqrt{1-2\zeta^2}$. The difference between the staight-line Bode magnitude plot and the exact value at $\omega_{max}$ is $20 \log\left(2\zeta\sqrt{1-\zeta^2}\right) \: \textcolor{gray}{dB}$
The example on the right shows the Bode magnitude plot for $H(\textcolor{blue}{j} \omega)=\frac{1}{1 + 2 \cdot 0.4\cdot \frac{\textcolor{blue}{j} \omega}{15} +\frac{(\textcolor{blue}{j} \omega)^2}{15^2}}$. Since $\zeta \lt 0.7$ the exact Bode magnitude plot has a maximum at $\omega_{max}=15\cdot \sqrt(1-2\cdot 0.4^2) \approx 12.36$.

\(\setSection{12}\)12. Appendix

12.1 Complex numbers

Representation of complex numbers

Complex numbers ofen appear in AC analysis problems. Therefore, before starting the AC analsysis module it is good to get familiar with the different ways to represent complex numbers, how to convert from one representation to another, and how to perform simple mathematical operations such as addition, subtraction, multiplication, and division with complex numbers.

The two most common representations of complex numbers are in rectangular and in polar form. When represented in rectangular form complex number are written as the sum of a real and an imaginary part, such as $$\begin{equation}z=a+b j\end{equation}$$ where $a$ and $b$ are the real and imaginary parts of the complex number and $\textcolor{blue}{j} = \sqrt{-1}$

When represented in polar form (also called phasor form or exponential form), the complex numbers are written as a combination of their magnitude (also called modulus or absolute value) $r$ and argument (also called angle) $\theta$, such as z=magangle(r,theta)=r*exp(theta) = r e^theta = r(cos(theta)+j sin(theta)) Note that:

  1. No matter what form we use to express a complex number, we will always need two real values (either the real and imaginary parts or the magnitude and argument).
  2. The magnitude of a complex number is always positive or zero (if the number is equal to $0$).
  3. The argument (angle) of a complex number can vary between $-\pi \lt \theta \le \pi$ (or $-180^{\textcolor{gray}\circ} \lt \theta \le 180^{\textcolor{gray}\circ}$). Since adding $360^{\textcolor{gray}\circ}$ to the angle does not change the location of the vector represented by it, sometimes the argument is expressed in the interval $0 \le \theta \lt 2\pi$ (or $0 \le \theta \lt 360^{\textcolor{gray}\circ}$)

Complex numbers can be represented by points in the two-dimensional plane as shown in Fig. 12.62. The $x$ and $y$ coordinates of the two point are the real and imaginary part of the complex number. The distance from the origin to the point is the magnitude of the complex number, while the angle between the vector connecting the origin with the point and the horizontal axis is the argument.

Fig. 12.62 Graphical representation of a complex number in the plane. The horizontal axis denotes the real coordinate of the complex number, while the vertical axis is the imaginary part.

Converting from polar to rectangular form

One can always convert from polar to rectangular form using the following equations $$\begin{equation}x=r \sin{\theta}\end{equation}$$ $$\begin{equation}y=r \cos{\theta}\end{equation}$$

For instance, z=magangle(5,30) can be represented as $z=5 (\cos{30^{\textcolor{gray}\circ}} + \textcolor{blue}{j} \sin{30^{\textcolor{gray}\circ}})=4.33 + 2.5 j$. Whenever converting a complex from rectangular to polar form it is useful to represent the complex number in graphically to find in which quadrant it lies (see image below).

Converting from rectangular to polar form

One can also convert from rectangular to polar form using the following equations $$\begin{equation}r=\sqrt{x^2+y^2}\end{equation}$$ $$\begin{equation}\theta=atan2(y, x)\end{equation}$$ where $atan2$ is the 2-argument arctangent function.

The $atan2$ function takes into consideration the sign of the real and imaginary parts of the real number and correctly provides and answer between $-\pi$ and $\pi$. For instance, z=3-4 j = magangle(sqrt(3^2+4^2),-53.13)=5 magangle(5,-53.13) because $atan2(-4,3)=-4.76\,{\textcolor{gray}{rad}}=-53.13^{\textcolor{gray}\circ}$ (see Fig. 12.63).

Fig. 12.63 Graphical representation of z=3-4 j=magangle(5,-53.13) in the plane.
Mathematical operations with complex numbers in rectangular form

Consider two complex numbers expressed in rectangular form: $z_1=a+\textcolor{blue}{j} b$ and $z_2=c+\textcolor{blue}{j} d$.

  1. Addition.
    $$\begin{equation}z_1+z_2=a+c+\textcolor{blue}{j} (b+d)\end{equation}$$
  2. Subtraction.
    $$\begin{equation}z_1-z_2=a-c+\textcolor{blue}{j} (b-d)\end{equation}$$
  3. Multiplication.
    $$\begin{equation}z_1 z_2=a c - b d+\textcolor{blue}{j} (b c+a d)\end{equation}$$ where we used $\textcolor{blue}{j} \cdot \textcolor{blue}{j}=-1$
  4. Division.
    $$\begin{equation}\frac{z_1}{z_2}=\frac{a+\textcolor{blue}{j} b}{c+\textcolor{blue}{j} d}=\frac{(a+\textcolor{blue}{j} b)(c-\textcolor{blue}{j} d)}{(c+\textcolor{blue}{j} d)(c-\textcolor{blue}{j} d)}=\frac{a c + b d+\textcolor{blue}{j} (b c-a d)}{c^2+d^d}\end{equation}$$ which can next be separated into real and imaginary part.

The complex conjugate of a complex number $z=a+\textcolor{blue}{j} b$ is denoted by $z^*$ and is defined as

$$\begin{equation}z^*=(a+\textcolor{blue}{j} b)^* = a-\textcolor{blue}{j} b\end{equation}$$

The complex conjugate has the folowing important properties

$$z \cdot z^*=(a+\textcolor{blue}{j} b)(a-\textcolor{blue}{j} b) = a^2 + b^2$$ $$(z_1 + z_2)^*= z_1^* + z_2^*$$ $$(z_1 - z_2)^*= z_1^* - z_2^*$$ $$(z_1 z_2)^*= z_1^* z_2^*$$ $$\left(\frac{z_1}{z_2}\right)^*= \frac{z_1^*}{z_2^*}$$

The magnitude (also called modulus or absolute value) of a complex number $z=a+\textcolor{blue}{j} b$ has the following properties which we often use to compute the magnitude or voltages and currents in linear circuits

$$|z|=\sqrt{z \cdot z^*}=\sqrt{a^2+b^2}$$ $$\left|z_1 z_2\right|= |z_1|\cdot |z_2|$$ $$\left|\frac{z_1}{z_2}\right|= \frac{|z_1|}{|z_2|}$$
Mathematical operations with complex numbers in polar form

Most often, in linear circuits, we prefer to perform mathematical operations with complex numbers in rectangular form. However, sometimes, it might be more convenient to perform these operations in polar form. For instance, consider two complex numbers expressed in polar form: magangler(r_1,theta_1) and magangler(r_2,theta_2). We have:

  1. Multiplication.
    magangler(r_1,theta1) * magangler(r_2,theta2)= magangler(r_1 r_2,theta1+theta2)
  2. Division.
    magangler(r_1,theta1) / magangler(r_2,theta2)= magangler(r_1/r_2,theta1-theta2)

The complex conjugate of magangler(r,theta) is magangler(r,-theta) while the $n$-th power can be computed using de Moivre's formula

$$\begin{equation}z^n= \left[r(\cos\theta + \textcolor{blue}{j} \sin \theta)\right]^n=r^n(\cos{n\theta} + \textcolor{blue}{j} \sin{n\theta})\end{equation}$$ or, in more concise form (magangler(r,theta))^n=magangler(r^n,n theta).

12.2 Systems of linear equations

A general system of $n$ linear equations withe $m$ unknowns can be written as $$ \begin{aligned} a_{11}x_1+a_{12}x_2+ \ldots +a_{1n}x_n &= b_1\\ a_{21}x_1+a_{22}x_2+ \ldots +a_{2n}x_n &= b_2\\ \ldots\\ a_{n1}x_1+a_{n2}x_2+ \ldots +a_{nn}x_n &= b_n \end{aligned} $$ or, in matrix form $$A x =b$$ where $A$ is the matrix of the system ($n\times n$), $x$ is the vector of unknowns, and $b$ is the right-hand side vector. Both $x$ and $b$ are column vectors. Such linears often appear in the analysis of linear circuits and students should be familiar with solving them. A few methods to solve them are:

  • Substitution method. Systems of 2-4 linear equations can usually be solved efficiently using the substituion method
  • Cramer's rule.' Cramer's rule involves the use of determinants to solve the linear system
  • Numerical solution. E.g. Use calculators such as TI-84, Matlab, Python, etc.

These methods can be applied to both real and complex systems of linear equations.

Substitution method (elimination of variables)

Perhaps the simplest method for solving a system of linear equations is to repeatedly eliminate variables, as follows:

  • Solve the first equation of the linear system for one of the variables in terms of the others.
  • Substitute this expression into the remaining equations. This yields a system of equations with one fewer equation and unknown.
  • Solve this equation, and then back-substitute until the entire solution is found.

Cramer's rule

The solution of a system of linear equations can be written as $$x_i = \frac{\left|A_i\right|}{\left|A\right|}$$ where $A_i$ is the matrix formed by replacing the i-th column of matrix $A$ by the column vector $b$ ($i=1,\ldots ,n$), $det(A_i)$ is the determinant of $A_i$ and $det(A)$ is the determinant of $A$. For instance, in the case of system of 2 linear equations $$ \begin{aligned} a x+b y &= \textcolor{red}{e}\\ c x+d y &= \textcolor{red}{f} \end{aligned} $$ the solution is $$ \begin{aligned} x &= \frac{\begin{vmatrix} \textcolor{red}{e} & b \\ \textcolor{red}{f} & d \end{vmatrix} }{\begin{vmatrix} a & b \\ b & d \end{vmatrix}} = \frac{d \textcolor{red}{e} - b \textcolor{red}{f}}{a d - b c}\\ y &= \frac{\begin{vmatrix} a & \textcolor{red}{e} \\ c & \textcolor{red}{f} \end{vmatrix} }{\begin{vmatrix} a & b \\ b & d \end{vmatrix}} = \frac{a \textcolor{red}{f} - c \textcolor{red}{e}}{a d - b c}\\ \end{aligned} $$

Numerical solution

Being able to solve systems of linear equations numerically is important because it usualy allows us to find the solution of the system relatively fast, without having to solve the equations by hand. Engineering students should be familiar with using hand calculators such as TI-84 to solve systems of linear equations. In addition, common software such as Matlab, Python, Mathamtica, Maple, Maxima, etc. can also be used to solve systems of linear equations. Below we give examples of how to solve a system of linear equations using Python and Matlab.

Systems of linear equations with real coefficients
Assume you want to solve the following system of equations: $$ \begin{aligned} 3 x+ y &= 9\\ x + 2 y &= 8 \end{aligned} $$
  • Python (you can use it for free)
    import numpy as np
    a = np.array([[3,1], [1,2]])
    b = np.array([9,8])
    x = np.linalg.solve(a, b)
    print(x)
  • Matlab
    syms x y z
    eqn1 = 3*x + y == 9;
    eqn2 = x + 2*y == 8;
    sol = solve([eqn1,eqn2,eqn3],[x,y,z]);
  • Maple
    solve({3*x+y=9,2+2*y=8});
  • Mathematica
    Solve[3*x + y == 9 && x + 2*y == 8, {x,y}]
  • Maxima (this is free software)
    solve([3*x+y=5,x+2*y=8], [x,y]);
  • CircuitsU
    For nodal and mesh analysis problems yielding systems with more than three equations, CircuitsU automatically solves the system if the user correctly inputs the system matrix.
Systems of linear equations with complex coefficients
Assume you want to solve the following system of equations: $$ \begin{aligned} (3 \textcolor{blue}{j}+1) x+ y &= 9-2 \textcolor{blue}{j}\\ x + 2 \textcolor{blue}{j} y &= 8+ \textcolor{blue}{j} \end{aligned} $$
  • Python (you can use it for free)
    import numpy as np
    a = np.array([[3j+i,1], [1,2j]])
    b = np.array([9-2j,8+j])
    x = np.linalg.solve(a, b)
    print(x)
  • Matlab
    syms x y z
    eqn1 = (3*i+1)*x + y == 9-2*i;
    eqn2 = x + 2*i*y == 8+i;
    sol = solve([eqn1,eqn2,eqn3],[x,y,z]);
  • Maple
    solve({(3*I+1)*x+y=9-2*I,x+2*I*y=8+I});
  • Mathematica
    Solve[(3*I+1)*x + y == 9-2*I && x + 2*I*y == 8+I, {x,y}]
  • Maxima (this is free software)
    solve([(3*%i+1)*x+y=9-2%i,x+2*%i*y=8+%i], [x,y]);
  • CircuitsU
    For nodal and mesh analysis problems yielding systems with more than three equations, CircuitsU automatically solves the system if the user correctly inputs the system matrix.