Step response — where it appears
Named by 25 essays across 7 fields — each of them below, with the objects they name alongside it.
One step, computed twice
A step response from the poles is exact. The same step walked forward in time is not, and the difference between them is the trapezoidal rule's own error rather than anything about the circuit. It falls by a factor of four every time the step is halved, which is a claim about a method and can be watched.
A divider with two ratios
Put capacitance in a resistive divider and it divides by resistance at direct current and by capacitance at high frequency, and those are two different numbers unless one equation holds. The adjustable trimmer on every oscilloscope probe exists for that single equation, and the square wave on the instrument's front panel is a display of which of the two ratios is currently winning.
The instrument's own rise time
Rise times add in quadrature, so ten per cent of inflation needs an instrument 2.18 times faster than the edge. That constant contains no instrument. Measured on the solved network it is 2.79 for a one-pole front end, 3.97 for two, 4.87 for three and 5.62 for four — the rule is optimistic at every pole count, which is the wrong direction for a rule of thumb to err in.
The ringing that belongs to the rule
The trapezoidal rule is stable for every stable circuit and every step size, and it is not damping. March a one-microsecond pole with twenty-microsecond steps and its node reads 1.818, 0.331, 1.548, 0.552 volts — an oscillation at half the stepping rate, its distance from the final volt multiplied by exactly −0.8182 every step, taking twenty-three steps to fall below one per cent. The slow node that pole drives is right to 1.2 × 10⁻⁵ V at a millisecond. One backward-Euler step at the discontinuity cuts the first swing from 0.818 V to 0.048 and two to 0.0023, because backward Euler multiplies the same error by 1/(1 + h/τ) and the trapezoidal rule by (1 − h/2τ)/(1 + h/2τ), which approaches −1.
The phase the rule loses
An inductor and a capacitor with no resistance ring for ever, and two ways of marching them disagree about how. The trapezoidal rule keeps the amplitude exactly — its factor per step has a magnitude of one — and loses phase instead: 2π − 2N·atan(π/N) a cycle, 2.918° at twenty steps a cycle, so ten cycles later it is 29.2° behind the circuit. Backward Euler keeps 0.3901 of the amplitude a cycle at the same step, and after ten cycles 0.0082 per cent of the ringing is left, in a circuit that has no loss. The two errors fall at different rates: the trapezoidal rule's phase as the square of the steps a cycle, backward Euler's amplitude as the first power. A hundred cycles to within one per cent needs 182 steps a cycle of one and 196,404 of the other.
The start a step takes from infinity
The initial-value theorem reads where a step starts off H at infinite frequency. Apply it again to s·H, s²·H and on, and it reads how the step starts: the first r − 1 derivatives are zero for a network r degrees more poles than zeros, and the r-th is the ratio of the leading coefficients. So a step through r sections begins as a power of time — for sections of τ, τ/2, … τ/r, exactly (t/τ) to the r — and reaches one per cent at 10.1 µs through one section, 105 µs through two and 508 µs through five. Put a zero anywhere, even a thousand times above every pole, and the step starts linearly instead, with a slope of twice the zero's time constant over τ² that is the larger term for the first two of them.
The two mirrors that change places
A low-pass with two zeros has four networks that share its magnitude, one for each choice of side for each zero. The one with both zeros on the left delivers its energy first at every instant, and the one with both on the right delivers last. The two in between are not ranked at all. With zeros at 3 and 30 kHz, mirroring the higher zero delays half the energy more and mirroring the lower zero delays nine tenths more. They swap at 12.64 µs, and that instant depends only on the product of the two zeros: it is where the all-pole response is rising at a rate of √(ω₁ω₂). And the network that delivers last does not start the wrong way at all.
The threshold a delay is quoted at
A step through a network of r poles starts as the r-th power of time, so a delay measured at 10% moves with the network's order more than one measured at 50%. Cut a line into more sections and the order grows without limit, and what happens to the two delays depends on the line. A lossless LC line converges on its time of flight at every threshold: the spread between its 10% and 50% delays falls from 0.656 of a flight time with one section to 0.070 with thirty-two, as the −0.68 power of the section count, the −2/3 of an Airy front. An RC line converges too, but its 10% and 50% delays converge to 0.134 and 0.391 of R·C, a third of each other for good. On a propagating line a delay belongs to the path; on a diffusing one, two-thirds of it belongs to the threshold.
The parasitic that moves the start
A pole far above a network's bandwidth raises its relative degree by one, so the initial-value theorem says its step now starts as tʳ⁺¹ instead of tʳ; a zero lowers it. Both are true and both expire. Added to a two-section step, a 10 µs parasitic pole holds the start at the cube of time until the asymptotes cross at (r + 1)τp = 30 µs and a 10 µs zero holds it at the first power until r·τz = 20 µs; thirty time constants later the local power is back within 0.07 of the bare step's. After that each does one thing only: it moves every threshold by its own time constant, the pole later and the zero earlier. Since the time is the same at every threshold, the fraction it costs is not — 9.1% of a 1% delay, 0.82% of a 50% one — and a pole and a zero together keep the start's power, scale it by τz/τp, and move every later threshold by τp − τz.
The circle a peak sits on
A pole pair's response at a frequency is ω₀² over the product of two distances — from the point on the imaginary axis to each pole — to a part in 10¹⁵ of the nodal solve. That turns a resonance into geometry. The peak is where a circle centred on the pair's real part and through both poles meets the axis: at Q = 2, 0.9354 of ω₀ and a height of 2.0656, found the same by a search. The quality factor is an angle, Q = 1/(2 cos θ), and a peak exists exactly when the pair is closer to the imaginary axis than to the real one — past forty-five degrees. The half-power width is where the short leg has grown by √2, twice the pair's distance from the axis. And the step, marched, rings at the pole's height and decays at its distance: a projection, not a length.
How long a large step takes to settle
An amplifier of 1 MHz gain–bandwidth and 0.5 V/µs slew rate stops being linear above an 80 mV step. Its settling time does not notice for a long while: to 0.01 per cent it is 1.47 µs for any step up to 79.6 mV, 1.56 at 200 mV, 2.90 at a volt, and twice the linear figure only from 1.02 V, thirteen times the boundary. The reason is that a large step slews until its error is SR·τ and then settles exactly as a small one does, so the extra time is τ(x − 1 − ln x) — second order at the boundary and the whole slewing time far beyond it. A data sheet's 20.5 µs for a 10 V step therefore says almost nothing about a 1 V step, which takes 2.9, and nothing about 100 mV.
The second capacitor, and the tail that changes sign
One coupling stage turns a pulse into a sagging top and an undershoot that returns to zero from below. Add a second stage with the same one-second time constant and a half-second pulse sags to 0.303 of itself instead of 0.607, undershoots to −0.697, crosses zero 2.27 s after it began and overshoots positive before settling. The step response becomes (1 − t/τ)·exp(−t/τ), through zero at exactly one time constant and down to −e⁻² at two. The reason is arithmetic: one capacitor removes the waveform's area, two remove its area and its first moment, and a pulse with a one-signed tail cannot have both. Built to the same stated corner, two stages still sag 1.29 times as fast, and a 1% flat top needs a pulse rate 806 times the corner rather than 625.
Two coupling stages without a buffer
Hang a second coupling stage directly on the first, with equal parts, and the pair's denominator gains a third time constant — the first resistor carrying the second capacitor's current. The poles spread from a double pole to −0.382 and −2.618 per time constant, a half-second pulse's top sags to 0.175 instead of the buffered pair's 0.303, and the sag rate is exactly 2 + 1/k per time constant for a second stage k times the first's impedance — the sum of the two short-circuit time constants. The tail still crosses zero, because the two zeros at the origin are untouched, and a step's lowest point is still at exactly twice its zero crossing. Then a reversal: specified by the overall corner rather than by the parts, the loaded pair sags only 1.12 times as fast as one stage and undershoots 7.6% rather than 13.5% — the buffer the cascade essay assumed makes the specified input worse.
The ring a blocking capacitor buys
A series capacitor in front of a transformer stops its flux from walking: a 55%-duty drive that walks a bare core by 0.40 units of volt-time a period settles within a few dozen periods once the capacitor takes the drive's average. The price is a second-order high-pass with the magnetising inductance, and an inductance lets its poles go complex where two resistive coupling stages never could. Between equal resistances the damping cannot fall below 1/√2, and the poles are complex only for a capacitor between 0.17 and 5.8 times L/R². From a stiff driver the damping is √(L/C)/2R and has no floor: a capacitor large enough to make the droop small — the droop is 1/RC, the capacitor's and not the transformer's — makes the tail ring, from one zero crossing at a tenth of L/R² to thirty-five at a hundred.
The time constant one trimmer cannot reach
A ten-to-one divider whose lower arm is 100 pF of instrument input and 15 pF more reached through a kilohm reads flat on a 1 kHz calibrator with its trimmer at 12.8 pF — the same setting as a lower arm of 115 pF lumped — and overshoots 12.8% on a 1 ns edge, settling within 1% only after 35.5 ns. No setting of the one trimmer is flat: the best judged on a fast edge is 6.1%, at 11.9 pF, and a trimmer set by eye so the fast edge lands flat leaves the calibrator's square wave 9.9% low with a 114 µs slope on its top. Flat at every time needs the upper arm to be a scaled copy of the lower one — a second branch of 9 kΩ and 1.7 pF — and then a 1 ns edge is flat to 10⁻¹⁰, with a window of −18 to +24% on that resistor and ±6% on its capacitor.
The line from Bessel to Butterworth
Bessel, Butterworth and Chebyshev are taught as three choices, and measured at one order and one corner they are points on one line. Interpolate each Bessel pole towards its Butterworth partner and every quantity moves smoothly: a fifth-order filter's step overshoots 0.77% and settles to 1% in 0.68 periods of the corner as a Bessel, 4.53% and 1.27 periods halfway, 12.78% and 2.21 periods as a Butterworth, while its attenuation at twice the corner climbs from 14.1 to 30.1 dB. The Chebyshevs carry the same line on to 47.0 dB at 4.97 periods, and every step along it buys attenuation with settling time — a frontier, with no member beaten on both. Overshoot is not the price: past 0.05 dB of ripple a Chebyshev overshoots less while ringing longer. And a specification of 25 dB at twice the corner within 1.6 periods is met first at order five, by a member nobody names.
The delay that is a centre of mass
A filter's group delay at zero frequency is not an approximation to when its step arrives; it is exactly where its impulse response balances. Across three families and orders one to seven the two agree to 5.7 parts in a million by routes that share only the netlist. The step's half-way point is a different thing: ln 2 of the delay for one pole, approaching it from below for a Bessel filter, and passing it — by up to 16.9 per cent — for Butterworth and Chebyshev filters whose impulse responses swing negative. Elmore's RC-tree delay is the same centre of mass, and a uniform ladder network crosses half at 0.757 of it.
The delay a chain adds
A chain of one-pole stages leaves its flat band as the square root of the number of stages, and it leaves its settling time faster: four stages take 10.0 time constants to settle within 1 per cent against one stage's 4.61, sixteen take 26.7 — 5.81 times one stage, where the frequency rule allows 4.02. The difference is a delay. The chain's step is the sum of N exponential lags, so it is an edge of mean N time constants and spread √N; the magnitude response sees only the spread. At a thousand stages the 1 per cent time is 1.074 of the delay. A chain budgeted to stay flat to 1 per cent settles to 1 per cent 45 per cent late.
The delay an inductance does not add
Lead inductance against a stray capacitance is a resonance, and far above a network's bandwidth it raises the relative degree by two: a two-section step starts as t⁴ instead of t² until √12·τr — 34.6 µs for a 10 µs resonance — at any damping, because the coefficient is LC and nothing else. After that the resonance moves a half-way threshold by R·C, its first moment, and the inductance is not in it. It moves every threshold by R·C only at ζ = 1/√2, where its second moment is a pure delay's, and below that its variance is negative: at ζ = 0.1 the 1% point moves by 1.48 R·C while the 10–90 rise time gets shorter. The ring that reaches the output is the network's own gain at the resonance, 2.0 × 10⁻⁴ at ω0τ = 100, and the quality factor decides only how long it lasts. Lightly damped, the start is a staircase that touches the bare step once a period and never overtakes it.
The zeros that have no side
A complex pair of zeros can be mirrored into the right half-plane without changing a magnitude anywhere, and what the mirror adds is a second-order all-pass whose delay is 4ζ/ω₀ at low frequency. Above the band that is the whole story: with the pair at 30 kHz on a 1 kHz low-pass, half the energy arrives 0.21 µs later at ζ = 0.01, 2.12 µs at 0.1 and 21.2 µs at 1, linear in the damping — so the zeros of a notch, which sit on the axis, have no side worth choosing. Inside the band the all-pass's delay peaks at a millisecond exactly where the notch has removed the energy, and the energy's centroid moves by the delay averaged over |H|², which for fifteen pairs from 2 to 100 kHz matches a quadrature over frequency to five parts in a hundred thousand. And unlike one mirrored zero, a mirrored pair never starts a step the wrong way: it is only late.
The peak a load step does not see
A decoupling bank is specified by its impedance against frequency, and the number that fails a target is the anti-resonance peak — 0.966 Ω at 7.12 MHz for the bulk-and-ceramic pair standing on a regulator. A load that steps by one ampere moves that supply by 132 mV, 14% of what the peak suggests: a step rings the resonance once, and its first swing is set by the resonance's characteristic impedance √(L/C) = 0.224 Ω, not by its Q. The peak is the voltage per ampere of a load that sits at the resonance; switched at 7.12 MHz the same load builds over six cycles to ±611 mV, the peak times the current's fundamental. So damping, the cure for the peak, is a cure for that load only: sixteen times the ESR cuts the peak 8.9-fold and leaves a step's swing between 120 and 155 mV. What decides a step is its edge — 132 mV for anything faster than a few nanoseconds, 28 mV for a microsecond.
The ring the ground lead adds
Every earlier measurement of a probe returned it to the circuit's ground directly. A real ten-to-one probe returns through fifteen centimetres of clip lead, about 150 nH, and its 11.5 pF tip and that lead are a series resonance at 121 MHz across the node being watched. The only damping it has is the source's own resistance, ζ = (Rs/2)·√(C/L), so the screen shows 49.4% of overshoot on a clean step from 50 Ω, 87.1% from 10 Ω, and none above 228 Ω — the stiffer the node, the worse the picture. Solved by residues and by a march of the netlist, the overshoot follows the second-order law at every source. A spring tip's 5 nH rings at 664 MHz and not at all from 50 Ω; a 150 Ω resistor in series with the tip brings a clip lead under 2% at the price of a 3.65 ns rise.
The band counted in rise times
A transformer's band is two frequencies and its pulse response is two times, and they are the same two facts. Through the 1:1, k = 0.99 transformer whose band runs 400 Hz to 81.3 kHz, a 100 µs pulse rises in 4.03 µs — 0.35 over the upper band edge — and droops 21.6% along its top with a time constant of one over 2π times the lower edge, 398 µs; solved by residues and by a march of the netlist, they agree to a third of a per cent. Coupling buys rise time and nothing else: from 30.8 µs at k = 0.9 to 422 ns at 0.999, while the droop's time constant moves from 414 to 396 µs. The longest pulse that droops no more than 10%, over the rise, is 0.048 times the ratio of the upper band edge to the lower — the band ratio counted in rise times, 10.4 at k = 0.99 and 98.8 at 0.999. And the droop is not lost: a transformer has no gain at direct current, so the output swings below zero afterwards by exactly what the top lost, and the two areas match to 0.08%.
The source the hook hides behind
A compensated divider with a late branch in its lower arm overshoots 13.2 per cent on an ideal step, and every measurement of that hook has been made from a source with no resistance. Through a real source the input capacitance charges first, and the hook and the source's lag act on the same edge. The overshoot is 10.5 per cent from 50 Ω, 4.13 from 300 Ω and gone by a kilohm, where the source's lag equals the hook's. The excess has not gone away: it is in the edge, which the screen shows 15 per cent faster than the source and the probe's capacitance allow. And the second branch that made the divider exact only makes its ratio exact, so from a kilohm the exact divider settles in 65.6 ns and the one with the hook in 44.
The branches a square root needs
A resistive cable's late charge is a continuum and not one branch, and the partial fractions of its tanh are an exact description of it: 81.1 per cent of the capacitance behind a time constant of 12.2 ns, 9.01 per cent behind a ninth of that, 3.24 behind a twenty-fifth, all through the same kilohm. So a divider's upper arm can copy it one piece at a time. On a 1 ns edge one trimmer alone is 11.2 per cent out, one copied branch 1.07, two 0.252 and four 0.0353. The first branch does most of the work and the uncopied capacitance falls only as one over the count; what saves the rest is that a branch faster than the edge is averaged away. Faster edges ask for more branches, and the tolerance on the first ends the series before the arithmetic does.
Named alongside it
The objects these essays reach for when they reach for this one.
ResiduesModel rangeRise timeAttenuator probeCompensated dividerConvergence orderDamping ratioDesign tradeoffInitial-value theoremPropagation delaySettling timeTime constant matching