Linear and Nonlinear Circuits: Basic & Advanced Concepts : Volume 1 PDF
Preview Linear and Nonlinear Circuits: Basic & Advanced Concepts : Volume 1
Lecture Notes in Electrical Engineering 441 Mauro Parodi Marco Storace Linear and Nonlinear Circuits: Basic & Advanced Concepts Volume 1 Lecture Notes in Electrical Engineering Volume 441 Board of Series editors Leopoldo Angrisani, Napoli, Italy Marco Arteaga, Coyoacán, México Samarjit Chakraborty, München, Germany Jiming Chen, Hangzhou, P.R. China Tan Kay Chen, Singapore, Singapore Rüdiger Dillmann, Karlsruhe, Germany Haibin Duan, Beijing, China Gianluigi Ferrari, Parma, Italy Manuel Ferre, Madrid, Spain Sandra Hirche, München, Germany Faryar Jabbari, Irvine, USA Janusz Kacprzyk, Warsaw, Poland Alaa Khamis, New Cairo City, Egypt Torsten Kroeger, Stanford, USA Tan Cher Ming, Singapore, Singapore Wolfgang Minker, Ulm, Germany Pradeep Misra, Dayton, USA Sebastian Möller, Berlin, Germany Subhas Mukhopadyay, Palmerston, New Zealand Cun-Zheng Ning, Tempe, USA Toyoaki Nishida, Sakyo-ku, Japan Bijaya Ketan Panigrahi, New Delhi, India Federica Pascucci, Roma, Italy Tariq Samad, Minneapolis, USA Gan Woon Seng, Nanyang Avenue, Singapore Germano Veiga, Porto, Portugal Haitao Wu, Beijing, China Junjie James Zhang, Charlotte, USA About this Series “Lecture Notes in Electrical Engineering (LNEE)” is a book series which reports the latest research and developments in Electrical Engineering, namely: (cid:129) Communication, Networks, and Information Theory (cid:129) Computer Engineering (cid:129) Signal, Image, Speech and Information Processing (cid:129) Circuits and Systems (cid:129) Bioengineering LNEE publishes authored monographs and contributed volumes which present cutting edge research information as well as new perspectives on classical fields, while maintaining Springer’s high standards of academic excellence. Also considered for publication are lecture materials, proceedings, and other related materials of exceptionally high quality and interest. The subject matter should be original and timely, reporting the latest research and developments in all areas of electrical engineering. The audience for the books in LNEE consists of advanced level students, researchers,andindustryprofessionalsworkingattheforefrontoftheirfields.Much like Springer’s other Lecture Notes series, LNEE will be distributed through Springer’s print and electronic publishing channels. More information about this series at http://www.springer.com/series/7818 Mauro Parodi Marco Storace (cid:129) Linear and Nonlinear Circuits: Basic & Advanced Concepts Volume 1 123 MauroParodi MarcoStorace Department ofElectrical, Electronic, Department ofElectrical, Electronic, Telecommunications Engineering Telecommunications Engineering andNavalArchitecture (DITEN) andNavalArchitecture (DITEN) University of Genoa University of Genoa Genoa Genoa Italy Italy ISSN 1876-1100 ISSN 1876-1119 (electronic) Lecture Notesin Electrical Engineering ISBN978-3-319-61233-1 ISBN978-3-319-61234-8 (eBook) DOI 10.1007/978-3-319-61234-8 LibraryofCongressControlNumber:2017944207 ©SpringerInternationalPublishingAG2018 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictionalclaimsinpublishedmapsandinstitutionalaffiliations. Printedonacid-freepaper ThisSpringerimprintispublishedbySpringerNature TheregisteredcompanyisSpringerInternationalPublishingAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland To our past, present, and the future students. Foreword Circuit Theory is the bedrock of Electrical and Electronic Engineering. Traditionally, the didactic treatment of the subject has been restricted to linear framework.Whilelinearmethodsareextremelypowerfulanduniversallyappliedin Engineering practice, they miss the richness of nonlinear phenomena. This book takes a unified approach to both Linear and Nonlinear Circuits, emphasizingfromtheoutset,thatCircuitTheoryprovidesapowerfulparadigmfor modelling and analysing a range of physical systems, not just the electrical and electronic ones. The laws of Circuit Theory are rooted in fundamental physical principles, and the methods rely on profound mathematics. The circuits paradigm provide accessible insight and intuition into the operation of a wide range of physical systems, from neural networks to coupled pendula. Parodi and Storace have done an excellent job in presenting foundational material that every undergraduate student should know, followed by advanced concepts which will enrich the learning experience for more advanced undergrad- uatesandgraduatestudents.Bycombiningthismaterial,theirbookwillalsobean invaluable resourcefor practising researchers who will, for the first time, findboth classical linear circuits concepts and advanced results in the one place. Michael Peter Kennedy vii Preface Circuit theory is a discipline at the crossroad between physics, mathematics and system theory and providesbasic knowledge in various fields of engineering, such as electronic devices and circuits, signal processing, control systems. The circuit theory core is the concept of model, i.e., a mathematical description of a physical system. Circuit theory treats circuits with a field-less approach and, contrary to general electromagnetic theory, neglects the electromagnetic propagation. Circuit theory was developed later than electrical circuits, whose origin (ne- glecting the Greek discover of static electricity) dates back to the end of XVIII century. The first circuit theory laws were provided in the middle of XIX century and, up to the middle of XX century, the development of circuit theory was basi- cally related to electrical circuits. During World War II, circuit theory received a strong boost due to the influence and growth of disciplines such as system theory, automatic controls and electronics. With the development of transistors and com- puters, the realization criteria and the potentialities of circuits underwent deep changes, concerned with both design (the semiconductor miniaturization made it possible to conceive ever more ambitious, complex and low-cost circuits) and the growing corpus of knowledge that circuit theory was called to provide and to rationalize. The devices made available by technology were described by models, first of elementary devices, such as transistors, and subsequently of circuit parts to be used as building blocks in broader architectures. The detailed behavior of the devices inside these blocks became unessential for the user and, as such, usually ignored. Overtheyears,theneedofbothdesigningincreasinglycomplexcircuits(largely containing nonlinear devices) and checking their behaviors before concretely realizethemrequiredmoreandmoretheuseofcomputernumericalsimulations.In this perspective, the use of models is essential to provide to the computer a sys- tematicdescriptionofthecircuitstructure,togetherwiththeelectricalpropertiesof its components; furthermore, models contributed to the formalization of methods suitabletobemappedintomathematicalalgorithms,inparticular,forthetreatment of large-size systems of algebraic equations and of systems of ordinary differential equations. The numerical solutions provided by computers in shorter and shorter ix x Preface timesmadeitpossibletostudycomplexcircuitsalsointheabsenceofananalytical solution. The circuit theory development had repercussions also outside the circuit field, inareasseeminglyfarfromcircuits,butwhereexperimentalobservationsdisplayed astrongsimilaritytophysicalbehaviorsobservableincircuits.Thisledtoformulate equivalentcircuitmodelsmimickingtheobservedphenomena.WhenWorldWarII was still in full swing, for example, Hodgkin and Huxley formulated their circuit model for neurons, now head of a family of models. In our vision, a circuit theory course must systematically show ideas and methodssuitabletostudybothlinearandnonlinearcircuits,eitherpassiveoractive. The presentation of concepts and fundamental methods of analysis must aim not only to allow their application in today’s problems, but also to highlight their meaning and potential as tools to understand and address future developments. These needs were clearly expressed during the ’60s of the last century, when CharlesDesoerandErnestKuhadoptedthemasguidelinesfortheirtreatise“Basic Circuit Theory”, which became a classic for university education. In 1969, at University of Genoa, Giuseppe Biorci adopted this text (in the original English version)forhiscourse,andin1972hewastheEditorofitsItalianversion.Among theuniversitytextswrittenwithsimilarmotivationsinthefollowingyears,itshould be definitely mentioned “Linear and Nonlinear Circuits”, written by the previous authorsandbyLeonChuaabouttwentyyearslater.Morerecentbooksfocusedon circuits have downsized, in our opinion, this character. Even if the university programsstronglychangedinthelastdecades,givinginsomecasesalargerspace toinformation attheexpensesofknowledge,thereisstillneedofbooksproviding not only a solid background to all students, but also a broader view to the most motivated among them. We strongly believe that circuit theory is a highly educa- tional discipline, not only for Engineers. Indeed, students learn a quite large set of toolsand,whendealingwithaspecificproblem,theyhavetodecidewhatsubsetof tools can be (or hasto be) usedto solve it. Inour opinion,this capacity of solving non-trivial problems should remain one of the main elements of the scientific cultural baggage. It can certainly be aided and made more powerful by many practical skills, but cannot be replaced by them. Withtheseguidelinesinmind,thisbookisstructuredinmultiplereadinglevels: each part is split into two chapters (basic level and advanced level), with two independent levels of reading. Moreover, in the advanced level some suggested shortcuts provide simplified reading paths, left to the reader’s choice. The basic chaptersareaimedatnewcomerstocircuittheory,especiallystudentstakingafirst courseinthesubject.Theirorganizationislargelybasedontheexperienceripened through a one-semester course, taught for several years, first at the Polytechnic UniversityofMilanandthenattheUniversityofGenoa.Ourgoalwiththeseparts is to explain the mathematics needed to handle circuits as clearly and simply as possible, and to show how it can be used to analyze/understand how a circuit works, also through many worked examples. A peculiar feature of this book is its emphasis on examples, showing how the proposed methods can be applied. The advanced chapters are aimed at both basic-level university students driven by Preface xi curiosity—inthebeliefthatcuriosityisthemaindriverforstudyingandlearning— and higher-level students, up to Ph.D. students and young researchers that want to find a complete treatment of many mathematical aspects related to circuits. The theory is developed systematically, starting with the simplest circuits (linear, time-invariant and resistive) and providing food for thought on nonlinear circuits, potentialfunctions,linearalgebra,geometricalinterpretationsofsomeresults.This is the subject of this volume. Circuits characterized by time-evolution/dynamics willbetreatedwiththesamespiritinasecondvolume.Inouropinion,themultiple reading levels help teachers to adapt their course to best meet students’ needs and background.Inallcases,studentsshouldbeassignedhomeworkfromtheproblems at the end of each chapter. They could also do computer projects based on circuit simulators and/or build real circuits during lab activities, e.g., to reproduce and check the results of some of the proposed examples. These aspects are left to the teacher experience and availability. We are indebted to our friend Lorenzo Repetto, who carefully revised the pre- liminary version of this book reporting bugs and providing detailed comments, manyofwhichwereincludedinthepresentvolume.Wealsowanttorememberour colleague and friend Amedeo Premoli, who passed away in 2014 and who shared ourvisionofcircuittheory.Thestructureofthisbookreflectsatleastinpartmany discussions had in the past with him. Genoa, Italy Mauro Parodi February 2017 Marco Storace
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