In Praise of Foundations of Analog and Digital Electronic Circuits ‘‘Thisbook,craftedandtestedwithMITsophomoresinelectricalengineeringandcomputer scienceoveraperiodofmorethansixyears,providesacomprehensivetreatmentofboth circuit analysis and basic electronic circuits. Examples such as digital and analog circuit applications, field-effect transistors, and operational amplifiers provide the platform for modelingofactivedevices,includinglarge-signal,small-signal(incremental),nonlinearand piecewise-linearmodels.Thetreatmentofcircuitswithenergy-storageelementsintransient andsinusoidal-steady-statecircumstancesisthoroughandaccessible.Havingtaughtfrom draftsofthisbookfivetimes,Ibelievethatitisanimprovementoverthetraditionalapproach tocircuitsandelectronics,inwhichthefocusisonanalogcircuitsalone.’’ -PAUL E. GRAY, MassachusettsInstituteofTechnology ‘‘Myoverallreactiontothisbookisoverwhelminglyfavorable.Well-writtenandpedagog- icallysound,thebookprovidesagoodbalancebetweentheoryandpracticalapplication.I thinkthatcombiningcircuitsandelectronicsisaverygoodidea.Mostintroductorycircuit theorytextsfocusprimarilyontheanalysisoflumpedelementnetworkswithoutputting thesenetworksintoapracticalelectronicscontext.However,itisbecomingmorecriticalfor ourelectricalandcomputerengineeringstudentstounderstandandappreciatethecommon groundfromwhichbothfieldsoriginate.’’ -GARY MAY, GeorgiaInstituteofTechnology ‘‘Withoutadoubt,studentsinengineeringtodaywanttoquicklyrelatewhattheylearnfrom coursestowhattheyexperienceintheelectronics-filledworldtheylivein.Understanding today’sdigitalworldrequiresastrongbackgroundinanalogcircuitprinciplesaswellas akeenintuitionabouttheirimpactonelectronics. InFoundations...AgarwalandLang presentauniqueandpowerfulapproachforanexcitingfirstcourseintroducingengineers totheworldofanaloganddigitalsystems.’’ -RAVI SUBRAMANIAN, BerkeleyDesignAutomation ‘‘Finally,anintroductorycircuitanalysisbookhasbeenwrittenthattrulyunifiesthetreat- mentoftraditionalcircuitanalysisandelectronics. AgarwalandLangskillfullycombine thefundamentalsofcircuitanalysiswiththefundamentalsofmodernanaloganddigital integratedcircuits.Iapplaudtheirdecisiontoeliminatefromtheirbooktheusualmanda- torychapteronLaplacetransforms,atoolnolongerinusebymoderncircuitdesigners.I expectthisbooktoestablishanewtrendinthewayintroductorycircuitanalysisistaught toelectricalandcomputerengineers.’’ -TIM TRICK, UniversityofIllinoisatUrbana-Champaign Foundations of Analog and Digital Electronic Circuits about the authors AnantAgarwalisProfessorofElectricalEngineeringandComputerScienceattheMassachusetts InstituteofTechnology.Hejoinedthefacultyin1988,teachingcoursesincircuitsandelectronics, VLSI,digitallogicandcomputerarchitecture.Between1999and2003,heservedasanassociate director of the Laboratory for Computer Science. He holds a Ph.D. and an M.S. in Electrical EngineeringfromStanfordUniversity,andabachelor’sdegreeinElectricalEngineeringfromIIT Madras.AgarwalledagroupthatdevelopedSparcle(1992),amultithreadedmicroprocessor,and theMITAlewife(1994),ascalableshared-memorymultiprocessor.HealsoledtheVirtualWires projectatMITandwasafounderofVirtualMachineWorks,Inc.,whichtooktheVirtualWires logicemulationtechnologytomarketin1993.CurrentlyAgarwalleadstheRawprojectatMIT, whichdevelopedanewkindofreconfigurablecomputingchip. Heandhisteamwereawarded aGuinnessworldrecordin2004forLOUD,thelargestmicrophonearrayintheworld, which canpinpoint, trackandamplifyindividualvoicesinacrowd. Co-founderofEngim, Inc., which developsmulti-channelwirelessmixed-signalchipsets,AgarwalalsowontheMauriceWilkesprize forcomputerarchitecturein2001,andthePresidentialYoungInvestigatorawardin1991. JeffreyH.LangisProfessorofElectricalEngineeringandComputerScienceattheMassachusetts InstituteofTechnology. Hejoinedthefacultyin1980afterreceivinghisSB(1975), SM(1977) andPh.D.(1980)degreesfromtheDepartmentofElectricalEngineeringandComputerScience. HeservedastheAssociateDirectoroftheMITLaboratoryforElectromagneticandElectronic Systemsbetween1991and2003,andasanAssociateEditorof‘‘SensorsandActuators’’between 1991and1994.ProfessorLang’sresearchandteachinginterestsfocusontheanalysis,designand controlofelectromechanicalsystemswithanemphasisonrotatingmachinery,micro-scalesensors andactuators,andflexiblestructures.HehasalsotaughtcoursesincircuitsandelectronicsatMIT. He has written over 170 papers and holds 10 patents in the areas of electromechanics, power electronicsandappliedcontrol,andhasbeenawardedfourbest-paperprizesfromIEEEsocieties. ProfessorLangisaFellowoftheIEEE,andaformerHertzFoundationFellow. AgarwalandLanghavebeenworkingtogetherforthepasteightyearsonafreshapproachto teachingcircuits.Forseveraldecades,MIThadofferedatraditionalcourseincircuitsdesignedas thefirstcoreundergraduatecourseinEE.Butbythemid-‘90s, vastadvancesinsemiconductor technology,coupledwithdramaticchangesinstudents’backgroundsevolvingfromahamradioto computerculture,hadrenderedthistraditionalcoursepoorlymotivated,andmanypartsofitwere virtuallyobsolete.AgarwalandLangdecidedtorevampandbroadenthisfirstcourseforEE,ECEor EECSbyestablishingastrongconnectionbetweenthecontemporaryworldsofdigitalandanalog systems,andbyunifyingthetreatmentofcircuitsandbasicMOSelectronics.Astheydeveloped thecourse,theysolicitedcommentsandreceivedguidancefromalargenumberofcolleaguesfrom MITandotheruniversities,students,andalumni,aswellasindustryleaders. Unabletofindasuitabletextfortheirnewintroductorycourse,AgarwalandLangwrotethis booktofollowthelecturescheduleusedintheircourse.‘‘CircuitsandElectronics’’istaughtinboth thespringandfallsemestersatMIT,andservesasaprerequisiteforcoursesinsignalsandsystems, digital/computerdesign,andadvancedelectronics.Thecoursematerialisavailableworldwideon MIT’sOpenCourseWarewebsite,http://ocw.mit.edu/OcwWeb/index.htm. Foundations of Analog and Digital Electronic Circuits anant agarwal DepartmentofElectricalEngineeringandComputerScience, MassachusettsInstituteofTechnology jeffrey h. lang DepartmentofElectricalEngineeringandComputerScience, MassachusettsInstituteofTechnology AMSTERDAM•BOSTON•HEIDELBERG•LONDON NEWYORK•OXFORD•PARIS•SANDIEGO SANFRANCISCO•SINGAPORE•SYDNEY•TOKYO MORGANKAUFMANNPUBLISHERSISANIMPRINTOFELSEVIER Publisher:DeniseE.M.Penrose PublishingServicesManager:SimonCrump EditorialAssistant:ValerieWitte CoverDesign:FrancesBaca Composition:CephaImagingPvt.Ltd.,India TechnicalIllustration:DartmouthPublishing,Inc. Copyeditor:EileenKramer Proofreader:KatherineHasal Indexer:KevinBroccoli Interiorprinter:ChinaTranslationandPrintingServicesLtd. Coverprinter:ChinaTranslationandPrintingServicesLtd. MorganKaufmannPublishersisanimprintofElsevier. 500SansomeStreet,Suite400,SanFrancisco,CA94111 Thisbookisprintedonacid-freepaper. ©2005byElsevierInc.Allrightsreserved. Designationsusedbycompaniestodistinguishtheirproductsareoftenclaimedastrademarksorregistered trademarks.InallinstancesinwhichMorganKaufmannPublishersisawareofaclaim,theproductnamesappearin initialcapitalorallcapitalletters.Readers,however,shouldcontacttheappropriatecompaniesformorecomplete informationregardingtrademarksandregistration. Nopartofthispublicationmaybereproduced,storedinaretrievalsystem,ortransmittedinanyformorbyany means electronic,mechanical,photocopying,scanning,orotherwise withoutpriorwrittenpermissionofthe publisher. PermissionsmaybesoughtdirectlyfromElsevier’sScience&TechnologyRightsDepartmentinOxford,UK: phone:(+44)1865843830,fax:(+44)1865853333,e-mail:[email protected] yourrequeston-lineviatheElsevierhomepage(http://elsevier.com)byselecting‘‘CustomerSupport’’andthen ‘‘ObtainingPermissions.’’ LibraryofCongressCataloging-in-PublicationData ISBN:1-55860-735-8 ForinformationonallMorganKaufmannpublications, visitourWebsiteatwww.mkp.comorwww.books.elsevier.com PrintedinChina 5 6 7 8 9 5 4 3 2 1 ToAnu,Akash,andAnisha AnantAgarwal ToMarija,Chris,John,Matt JeffreyLang contents Materialmarkedwith WWW appearsontheInternet(pleaseseePrefacefordetails). Preface ......................................................................................... xvii Approach ............................................................................ xvii Overview ............................................................................ xix CourseOrganization ............................................................. xx Acknowledgments ................................................................ xxi chapter 1 TheCircuitAbstraction ......................................... 3 1.1 ThePowerofAbstraction ...................................................... 3 1.2 TheLumpedCircuitAbstraction ............................................. 5 1.3 TheLumpedMatterDiscipline ............................................... 9 1.4 LimitationsoftheLumpedCircuitAbstraction .......................... 13 1.5 PracticalTwo-TerminalElements ............................................ 15 1.5.1 Batteries ................................................................ 16 1.5.2 LinearResistors ...................................................... 18 1.5.3 AssociatedVariablesConvention ............................... 25 1.6 IdealTwo-TerminalElements ................................................ 29 1.6.1 IdealVoltageSources,Wires,andResistors .................. 30 1.6.2 ElementLaws ........................................................ 32 1.6.3 TheCurrentSource AnotherIdealTwo-Terminal Element ................................................................ 33 1.7 ModelingPhysicalElements ................................................... 36 1.8 SignalRepresentation ............................................................ 40 1.8.1 AnalogSignals ....................................................... 41 1.8.2 DigitalSignals ValueDiscretization ........................ 43 1.9 SummaryandExercises ......................................................... 46 chapter 2 ResistiveNetworks ............................................... 53 2.1 Terminology ........................................................................ 54 2.2 Kirchhoff’sLaws ................................................................... 55 2.2.1 KCL ................................................................... 56 2.2.2 KVL ..................................................................... 60 2.3 CircuitAnalysis:BasicMethod ............................................... 66 2.3.1 Single-ResistorCircuits ............................................ 67 2.3.2 QuickIntuitiveAnalysisofSingle-ResistorCircuits ........ 70 2.3.3 EnergyConservation ............................................... 71 ix