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THE ELECTRICAL
ENGINEERING
HANDBOOK
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page iChen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page i
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page iiChen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page ii
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THE ELECTRICAL
ENGINEERING
HANDBOOK
WAI-KAI CHEN
EDITOR
Academic Press is an imprint of Elsevier
AMSTERDAM • BOSTON • HEIDELBERG • LONDON
NEW YORK • OXFORD • PARIS • SAN DIEGO
SAN FRANCISCO • SINGAPORE • SYDNEY • TOKYO
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page iiiChen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page iii

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Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page ivChen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page iv
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page v
Copyright ß 2004 by Academic Press.
All rights of reproduction in any form reserved.
v

Contents
Contributors . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
Editor-in-Chief . . . . . . . . . . . . . . . . . . . . . . . . . . xvii
I Circuit Theory . . . . . . . . . . . . . . . . . . . . . 1
Krishnaiyan Thulasiraman
1 Linear Circuit Analysis . . . . . . . . . . . . . . . . . 3
P.K. Rajan and Arun Sekar
2 Circuit Analysis:
A Graph-Theoretic Foundation . . . . . . . . . . . . 31
Krishnaiyan Thulasiraman and M.N.S. Swamy
3 Computer-Aided Design. . . . . . . . . . . . . . . . . 43
Ajoy Opal
4 Synthesis of Networks . . . . . . . . . . . . . . . . . . 53
Jiri Vlach
5 Nonlinear Circuits. . . . . . . . . . . . . . . . . . . . . 75
Ljiljana Trajkovic
´
II Electronics . . . . . . . . . . . . . . . . . . . . . . . 83
Krishna Shenai
1 Investigation of Power Management Issues
for Future Generation Microprocessors . . . . . . 85
Fred C. Lee and Xunwei Zhou
2 Noise in Analog and Digital Systems . . . . . . . . 101
Erik A. McShane and Krishna Shenai
3 Field Effect Transistors . . . . . . . . . . . . . . . . . 109
Veena Misra and Mehmet C. O
¨
ztu
¨

rk
4 Active Filters . . . . . . . . . . . . . . . . . . . . . . . . 127
Rolf Schaumann
5 Junction Diodes and Bipolar Junction
Transistors . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Michael Schro
¨
ter
6 Semiconductors . . . . . . . . . . . . . . . . . . . . . . 153
Michael Shur
7 Power Semiconductor Devices . . . . . . . . . . . . 163
Maylay Trivedi and Krishna Shenai
III VLSI systems . . . . . . . . . . . . . . . . . . . . . 177
Magdy Bayoumi
1 Logarithmic and Residue Number
Systems for VLSI Arithmetic . . . . . . . . . . . . . 179
Thanos Stouraitis
2 Custom Memory Organization and
Data Transfer: Architectural Issues and
Exploration Methods . . . . . . . . . . . . . . . . . . . 191
Francky Catthoor, Erik Brockmeyer,
Koen Danckaert, Chidamber Kulkani,
Lode Nachtergaele, and Arnout
Vandecappelle
3 The Role of Hardware Description
Languages in the Design Process of
Multinature Systems . . . . . . . . . . . . . . . . . . . 217
Sorin A. Huss
4 Clock Skew Scheduling for Improved
Reliability . . . . . . . . . . . . . . . . . . . . . . . . . . 231

Ivan S. Kourtev and Eby G. Friedman
5 Trends in Low-Power VLSI Design . . . . . . . . . 263
Tarek Darwish and Magdy Bayoumi
6 Production and Utilization of
Micro Electro Mechanical Systems. . . . . . . . . . 281
David J. Nagel and Mona E. Zaghloul
7 Noise Analysis and Design in Deep
Submicron Technology . . . . . . . . . . . . . . . . . 299
Mohamed Elgamel and Magdy Bayoumi
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page viChen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page vi
8 Interconnect Noise Analysis and Optimization
in Deep Submicron Technology . . . . . . . . . . . 311
Mohamed Elgamel and Magdy Bayoumi
IV Digital Systems and Computer
Engineering . . . . . . . . . . . . . . . . . . . . . 321
Sun-Yung Kung and Benjamin W. Wah
1 Computer Architecture. . . . . . . . . . . . . . . . . 323
Morris Chang
2 Multiprocessors . . . . . . . . . . . . . . . . . . . . . . 335
Peter Y. K. Cheung, George A.
Constantinides, and Wayne Luk
3 Configurable Computing . . . . . . . . . . . . . . . 343
Wayne Luk, Peter Y. K. Cheung, and Nabeel Shirazi
4 Operating Systems . . . . . . . . . . . . . . . . . . . . 355
Yao-Nan Lien
5 Expert Systems . . . . . . . . . . . . . . . . . . . . . . 367
Yi Shang
6 Multimedia Systems: Content-Based
Indexing and Retrieval . . . . . . . . . . . . . . . . . 379
Faisal Bashir, Shashank Khanvilkar, Ashfaq Khokhar,

and Dan Schonfeld
7 Multimedia Networks and Communication . . 401
Shashank Khanvilkar, Faisal Bashir,
Dan Schonfeld, and Ashfaq Khokhar
8 Fault Tolerance in Computer Systems—From
Circuits to Algorithms . . . . . . . . . . . . . . . . . 427
Shantanu Dutt, Federico Rota, Franco Trovo,
and Fran Hanchek
9 High-Level Petri Nets—Extensions,
Analysis, and Applications . . . . . . . . . . . . . . 459
Xudong He and Tadao Murata
V Electromagnetics . . . . . . . . . . . . . . . . . . 477
Hung-Yu David Yang
1 Magnetostatics . . . . . . . . . . . . . . . . . . . . . . 479
Keith W. Whites
2 Electrostatics. . . . . . . . . . . . . . . . . . . . . . . . 499
Rodolfo E. Diaz
3 Plane Wave Propagation and Reflection . . . . 513
David R. Jackson
4 Transmission Lines . . . . . . . . . . . . . . . . . 525
Krishna Naishadham
5 Guided Waves . . . . . . . . . . . . . . . . . . . . . . 539
Franco De Flaviis
6 Antennas and Radiation . . . . . . . . . . . . . . . 553
Nirod K. Das
I Antenna Fundamentals. . . . . . . . . . . . . . . . 553
II Antenna Elements and Arrays . . . . . . . . . . . 569
7 Microwave Passive Components. . . . . . . . . . 585
Ke Wu, Lei Zhu, and Ruediger Vahldieck
8 Computational Electromagnetics: The

Method of Moments . . . . . . . . . . . . . . . . . . 619
Jian-Ming Jin and Weng Cho Chew
9 Computational Electromagnetics: The Finite-
Difference Time-Domain Method . . . . . . . 629
Allen Taflove, Susan C. Hagness
and Melinda Piket-May
10 Radar and Inverse Scattering . . . . . . . . . . . . 671
Hsueh-Jyh Li and Yean-Woei Kiang
11 Microwave Active Circuits and Integrated
Antennas. . . . . . . . . . . . . . . . . . . . . . . . . . 691
William R. Deal, Vesna Radisic,
Yongxi Qian, and Tatsuo Itoh
VI Electric Power Systems . . . . . . . . . . . . 707
Anjan Bose
1 Three-Phase Alter nating Current Systems . . . 709
Anjan Bose
2 Electric Power System Components . . . . . . . 713
Anjan Bose
3 Power Transformers . . . . . . . . . . . . . . . . . . 715
Bob C. Degeneff
4 Introduction to Electric Machines . . . . . . . . 721
Sheppard Joel Salon
5 High-Voltage Transmission . . . . . . . . . . . . . 737
Ravi S. Gorur
6 Power Distribution. . . . . . . . . . . . . . . . . . . 749
Turan Go
¨
nen
7 Power System Analysis . . . . . . . . . . . . . . . . 761
Mani Venkatasubramanian

and Kevin Tomsovic
vi Contents
8 Power System Operation and Control . . . . . . 779
Mani Venkatasubramanian
and Kevin Tomsovic
9 Fundamentals of Power System
Protection . . . . . . . . . . . . . . . . . . . . . . . . . 787
Mladen Kezunovic
10 Electric Power Quality . . . . . . . . . . . . . . . 805
Gerald T. Heydt
VII Signal Processing. . . . . . . . . . . . . . . . . 811
Yih-Fang Huang
1 Signals and Systems . . . . . . . . . . . . . . . . . . . 813
Rashid Ansari and Lucia Valbonesi
2 Digital Filters . . . . . . . . . . . . . . . . . . . . . . . 839
Marcio G. Siqueira and Paulo S.R. Diniz
3 Methods, Models, and Algorithms for
Modern Speech Processing . . . . . . . . . . . . . . 861
John R. Deller, Jr. and John Hansen
4 Digital Image Processing . . . . . . . . . . . . . . . 891
Eduardo A.B. da Silva and Gelson V. Mendonc¸a
5 Multimedia Systems and Signal Processing . . . 911
John R. Smith
6 Statistical Signal Processing . . . . . . . . . . . . . 921
Yih-Fang Huang
7 VLSI Signal Processing. . . . . . . . . . . . . . . . . 933
Surin Kittitornkun and Yu-Hen Hu
VIII Digital Communication and
Communication Networks . . . . . . . . 949
Vijay K. Garg and Yih-Chen Wang

1 Signal Types, Properties, and Processes . . . . . 951
Vijay K. Garg and Yih-Chen Wang
2 Digital Communication System Concepts . . . . 957
Vijay K. Garg and Yih-Chen Wang
3 Transmission of Digital Signals . . . . . . . . . . . 965
Vijay K. Garg and Yih-Chen Wang
4 Modulation and Demodulation
Technologies . . . . . . . . . . . . . . . . . . . . . . . . 971
Vijay K. Garg and Yih-Chen Wang
5 Data Communication Concepts. . . . . . . . . . . 983
Vijay K. Garg and Yih-Chen Wang
6 Communication Network
Architecture . . . . . . . . . . . . . . . . . . . . . . . . 989
Vijay K. Garg and Yih-Chen Wang
7 Wireless Network Access
Technologies . . . . . . . . . . . . . . . . . . . . . . . . 1005
Vijay K. Garg and Yih-Chen Wang
8 Convergence of Networking
Technologies . . . . . . . . . . . . . . . . . . . . . . . . 1011
Vijay K. Garg and Yih-Chen Wang
IX Controls and Systems . . . . . . . . . . . . . . 1017
Michael Sain
1 Algebraic Topics in Control . . . . . . . . . . . . . 1019
Cheryl B. Schrader
2 Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . 1027
Derong Liu
3 Robust Multivariable Control . . . . . . . . . . . . 1037
Oscar R. Gonza
´
lez and Atul G. Kelkar

4 State Estimation . . . . . . . . . . . . . . . . . . . . . 1049
Jay Farrell
5 Cost-Cumulants and Risk-Sensitive
Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 1061
Chang-Hee Won
6 Frequency Domain System
Identification . . . . . . . . . . . . . . . . . . . . . . . 1069
Gang Jin
7 Modeling Interconnected Systems:
A Functional Perspective . . . . . . . . . . . . . . . 1079
Stanley R. Liberty
8 Fault-Tolerant Control . . . . . . . . . . . . . . . . . 1085
Gary G. Yen
9 Gain-Scheduled Controller s . . . . . . . . . . . . . 1107
Christopher J. Bett
10 Sliding-Mode Control Methodologies for
Regulating Idle Speed in Internal
Combustion Engines . . . . . . . . . . . . . . . . . . 1115
Stephen Yurkovich and Xiaoqiu Li
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page viiChen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page vii
Contents vii
11 Nonlinear Input/Output Control:
Volterra Synthesis . . . . . . . . . . . . . . . . . . . 1131
Patrick M. Sain
12 Intelligent Control of Nonlinear
Systems with a Time-Varying Structure . . . . 1139
Rau
´
l Ordo
´

n
˜
ez and Kevin M. Passino
13 Direct Learning by Reinforcement . . . . . . . . 1151
Jennie Si
14 Software Technologies for Complex
Control Systems. . . . . . . . . . . . . . . . . . . . . 1161
Bonnie S. Heck
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1171
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page viiiChen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page viii
viii Contents
Contributors
Rashid Ansari
Department of Electrical and Computer Engineering
University of Illinois at Chicago
Chicago, Illinois, USA
Faisal Bashir
Department of Electrical and Computer Engineering
University of Illinois at Chicago
Chicago, Illinois, USA
Magdy Bayoumi
The Center for Advanced Computer Studies
University of Louisiana at Lafayette
Lafayette, Louisiana, USA
Christopher J. Bett
Raytheon Integrated Defense Systems
Tewksbury, Massachusetts, USA
Anjan Bose
College of Engineering and Architecture
Washington State University

Pullman, Washington, USA
Erik Brockmeyer
IMEC
Leuven, Belgium
Francky Catthoor
IMEC
Leuven, Belgium
Morris Chang
Department of Electrical and Computer Engineering
Iowa State University
Ames, Iowa, USA
Peter Y. K. Cheung
Department of Electrical and Electronic Engineering
Imperial College of Science, Technology, and Medicine
London, UK
Weng Cho Chew
Center for Computational Electromagnetics
Department of Electrical and Computer Engineering
University of Illinois at Urbana-Champaign
Urbana, Illinois, USA
George A. Constantinides
Department of Electrical and Electronic Engineering
Imperial College of Science, Technology,
and Medicine
London, UK
Koen Danckaert
IMEC
Leuven, Belgium
Tarek Darwish
The Center for Advanced Computer Studies

University of Louisiana at Lafayette
Lafeyette, Louisiana, USA
Nirod K. Das
Department of Electrical and Computer
Engineering
Polytechnic University
Brooklyn, New York, USA
Eduardo A.B. da Silva
Program of Electrical Engineering
Federal University of Rio de Janeiro
Rio de Janeiro, Brazil
William R. Deal
Northrup Grumman Space Technologies
Redondo Beach, California, USA
Franco De Flaviis
Department of Electrical and Computer
Engineering
University of California at Irvine
Irvine, California, USA
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page ixChen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page ix
Copyright ß 2004 by Academic Press.
All rights of reproduction in any form reserved.
ix
Bob C. Degeneff
Department of Computer, Electrical, and Systems Engineering
Rensselaer Polytechnic Institute
Troy, New York, USA
John R. Deller, Jr.
Department of Electrical and Computer Engineering
Michigan State University

East Lansing, Michigan, USA
Rodolfo E. Diaz
Department of Electrical Engineering
Ira A. Fulton School of Engineering
Arizona State University
Tempe, Arizona, USA
Paulo S. R. Diniz
Program of Electrical Engineering
Federal University of Rio de Janeiro
Rio de Janeiro, Brazil
Shantanu Dutt
Department of Electrical and Computer Engineering
University of Illinois at Chicago
Chicago, Illinois, USA
Mohamed Elgamel
The Center for Advanced Computer Studies
University of Louisiana at Lafayette
Lafayette, Louisiana, USA
Jay Farrell
Department of Electrical Engineering
University of California
Riverside, California, USA
Eby G. Friedman
Department of Electrical and Computer Engineering
University of Rochester
Rochester, New York, USA
Vijay K. Garg
Department of Electrical and Computer Engineering
University of Illinois at Chicago
Chicago, Illinois, USA

Turan Go
¨
nen
College of Engineering and Computer Science
California State University, Sacramento
Sacramento, California, USA
Oscar R. Gonza
´
lez
Department of Electrical and Computer Engineering
Old Dominion University
Norfolk, Virginia, USA
Ravi S. Gorur
Department of Electrical Engineering
Arizona State University
Tempe, Arizona, USA
Susan C. Hagness
Department of Electrical and Computer Engineering
University of Wisconsin
Madison, Wisconsin, USA
Fran Hanchek
Intel Corporation
Portland, Oregan, USA
John Hansen
Department of Electrical and Computer Engineering
Michigan State University
East Lansing, Michigan, USA
Xudong He
School of Computer Science
Florida International University

Miami, Florida, USA
Bonnie S. Heck
School of Electrical and Computer Engineering
Georgia Institute of Technology
Atlanta, Georgia, USA
Gerald T. Heydt
Department of Electrical Engineering
Arizona State University
Tempe, Arizona, USA
Yu-Hen Hu
Department of Electrical and Computer Engineering
University of Wisconsin-Madison
Madison, Wisconsin, USA
Yih-Fang Huang
Department of Electrical Engineering
University of Notre Dame
Notre Dame, Indiana, USA
Sorin A. Huss
Integrated Circuits and Systems Laboratory
Computer Science Department
Darmstadt University of Technology
Darmstadt, Germany
Tatsuo Itoh
Department of Electrical Engineering
University of California, Los Angeles
Los Angeles, California, USA
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page x
x Contributors
David R. Jackson
Department of Electrical and Computer

Engineering
University of Houston
Houston, Texas, USA
Gang Jin
Ford Motor Company
Dearborn, Michigan, USA
Jian-Ming Jin
Center for Computational Electromagnetics
Department of Electrical and Computer Engineering
University of Illinois at Urbana-Champaign
Urbana, Illinois, USA
Atul G. Kelkar
Department of Mechanical Engineering
Iowa State University
Ames, Iowa, USA
Mladen Kezunovic
Department of Electrical Engineering
Texas A & M University
College Station, Texas, USA
Shashank Khanvilkar
Department of Electrical and Computer
Engineering
University of Illinois at Chicago
Chicago, Illinois, USA
Ashfaq Khokhar
Department of Electrical and Computer Engineering
University of Illinois at Chicago
Chicago, Illinois, USA
Yean-Woei Kiang
Department of Electrical Engineering

National Taiwan University
Taipei, Taiwan
Surin Kittitornkun
King Mongkut’s Institute of Technology Ladkrabang
Bangkok, Thailand
Ivan S. Kourtev
Department of Electrical and Computer Engineering
University of Pittsburgh
Pittsburgh, Pennsylvania, USA
Chidamber Kulkani
IMEC
Leuven, Belgium
Sun-Yung Kung
Department of Electrical Engineering
Princeton University
Princeton, New Jersey, USA
Fred C. Lee
Center for Power Electronics Systems
The Bradley Department of Electrical Engineering
Virginia Polytechnic Institute and State University
Blacksburg, Virginia, USA
Hsueh-Jyh Li
Department of Electrical Engineering
National Taiwan University
Taipei, Taiwan
Xiaoqiu Li
Cummins Engine
Columbus, Indiana, USA
Stanley R. Liberty
Academic Affairs

Bradley University
Peoria, Illinois, USA
Yao-Nan Lien
Department of Computer Science
National Chengchi University
Taipei, Taiwan
Derong Liu
Department of Electrical and Computer Engineering
University of Illinois at Chicago
Chicago, Illinois, USA
Wayne Luk
Department of Electrical and Electronic Engineering
Imperial College of Science, Technology, and Medicine
London, UK
Erik A. McShane
Department of Electrical and Computer Engineering
University of Illinois at Chicago
Chicago, Illinois, USA
Gelson V. Mendonc¸a
Department of Electronics
COPPE/EE/Federal University of Rio de Janeiro
Rio de Janeiro, Brazil
Veena Misra
Department of Electrical and Computer Engineering
North Carolina State University
Raleigh, North Carolina, USA
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page xi
Contributors xi
Tadao Murata
Department of Computer Science

University of Illinois at Chicago
Chicago, Illinois, USA
Lode Nachtergaele
IMEC
Leuven, Belgium
David J. Nagel
Department of Electrical and Computer Engineering
The George Washington University
Washington, D.C., USA
Krishna Naishadham
Massachusetts Institute of Technology
Lincoln Laboratory
Lexington, Massachusetts, USA
Ajoy Opal
Department of Electrical and Computer Engineering
University of Waterloo
Waterloo, Ontario, Canada
Rau
´
l Ordo
´
n
˜
ez
Department of Electrical and Computer Engineering
University of Dayton
Dayton, Ohio, USA
Mehmet C. O
¨
ztu

¨
rk
Department of Electrical and Computer Engineering
North Carolina State University
Raleigh, North Carolina, USA
Kevin M. Passino
Department of Electrical and Computer Engineering
The Ohio State University
Columbus, Ohio, USA
Melinda Piket-May
Department of Electrical and Computer Engineering
University of Colorado
Boulda, Colorado, USA
Yongxi Qian
Department of Electrical Engineering
University of California, Los Angeles
Los Angeles, California, USA
Vesna Radisic
Microsemi Corporation
Los Angeles, California, USA
P.K. Rajan
Department of Electrical and Computer
Engineering
Tennessee Technological University
Cookeville, Tennessee, USA
Federico Rota
Department of Electrical and Computer Engineering
University of Illinois at Chicago
Chicago, Illinois, USA
Politecnico di Torina, Italy

Michael Sain
Department of Electrical Engineering
University of Notre Dame
Notre Dame, Indiana, USA
Patrick M. Sain
Raytheon Company
EI Segundo, California, USA
Sheppard Joel Salon
Department of Electrical Power Engineering
Renssalaer Polytechnic Institute
Troy, New York, USA
Rolf Schaumann
Department of Electrical and Computer Engineering
Portland State University
Portland, Oregan, USA
Dan Schonfeld
Department of Electrical and Computer
Engineering
University of Illinois at Chicago
Chicago, Illinois, USA
Cheryl B. Schrader
College of Engineering
Boise State University
Boise, Idaho, USA
Michael Schro
¨
ter
Institute for Electro Technology and Electronics
Fundamentals
University of Technology

Dresden, Germany
Arun Sekar
Department of Electrical and Computer Engineering
Tennessee Technological University
Cookeville, Tennessee, USA
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page xii
xii Contributors
Yi Shang
Department of Computer Science
University of Missouri-Columbia
Columbia, Missouri, USA
Krishna Shenai
Department of Electrical and Computer Engineering
University of Illinois at Chicago
Chicago, Illinois, USA
Nabeel Shirazi
Xilinx, Inc.
San Jose, California, USA
Michael Shur
Department of Electrical, Computer, and Systems
Engineering
Rensselaer Polytechnic Institute
Troy, New York, USA
Jennie Si
Department of Electrical Engineering
Arizona State University
Tempe, Arizona, USA
Marcio G. Siqueira
Cisco Systems
Sunnyvale, California, USA

John R. Smith
IBM
T. J. Watson Research Center
Hawthorne, New York, USA
Thanos Stouraitis
Department of Electrical and Computer
Engineering
University of Patras
Rio, Greece
M.N.S. Swamy
Department of Electrical and Computer Engineering
Concordia University
Montreal, Quebec, Canada
Allen Taflove
Department of Electrical and Computer Engineering
Northwestern University
Chicago, Illinois, USA
Krishnaiyan Thulasiraman
School of Computer Science
University of Oklahoma
Norman, Oklahoma, USA
Kevin Tomsovic
School of Electrical Engineering and Computer Science
Washington State University
Pullman, Washington, USA
Ljiljana Trajkovic
´
School of Engineering Science
Simon Fraser University
Vancouver, British Columbia, Canada

Malay Trivedi
Department of Electrical and Computer Engineering
University of Illinois at Chicago
Chicago, Illinois, USA
Franco Trovo
Department of Electrical and Computer Engineering
University of Illinois at Chicago
Chicago, Illinois, USA
Politecnico di Torina, Italy
Ruediger Vahldieck
Laboratory for Electromagnetic Fields and Microwave
Electronics
Swiss Federal Institute of Technology
Zurich, Switzerland
Lucia Valbonesi
Department of Electrical and Computer Engineering
University of Illinois at Chicago
Chicago, Illinois, USA
Arnout Vandercappelle
IMEC
Leuven, Belgium
Mani Venkatasubramanian
School of Electrical Engineering and Computer Science
Washington State University
Pullman, Washington, USA
Jiri Vlach
Department of Electrical and Computer Engineering
University of Waterloo
Waterloo, Ontario, Canada
Benjamin W. Wah

Computer and Systems Research Laboratory
University of Illinois at Urbana-Champaign
Urbana, Illinois, USA
Yih-Chen Wang
Lucent Technologies
Naperville, Illinois, USA
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page xiii
Contributors xiii
Keith W. Whites
Department of Electrical and Computer Engineering
South Dakota School of Mines and Technology
Rapid City, South Dakota, USA
Chang-Hee Won
Department of Electrical Engineering
University of North Dakota
Grand Forks, North Dakota, USA
Ke W u
Department of Electrical and Computer Engineering
Ecole Polytechnique
Montreal, Quebec, Canada
Hung-Yu David Yang
Department of Electrical and Computer Engineering
University of Illinois at Chicago
Chicago, Illinois, USA
Gary G. Yen
Intelligent Systems and Control Laboratory
School of Electrical and Computer Engineering
Oklahoma State University
Stillwater, Oklahoma, USA
Stephen Yurkovich

Center for Automotive Research
The Ohio State University
Columbus, Ohio, USA
Mona E. Zaghloul
Department of Electrical and Computer Engineering
The George Washington University
Washington, D.C., USA
Xunwei Zhou
Center for Power Electronics Systems
The Bradley Department of Electrical Engineering
Virginia Polytechnic Institute and State University
Blacksburg, Virginia, USA
Lei Zhu
Department of Electrical and Computer Engineering
Ecole Polytechnique
Montreal, Quebec, Canada
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page xiv
xiv Contributors
Preface
Purpose
The purpose of The Electrical Engineering Handbook is to
provide a comprehensive reference work covering the broad
spectrum of electrical engineering in a single volume. It is
written and developed for the practicing electrical engineers
in industry, government, and academia. The goal is to provide
the most up-to-date information in classical fields of circuits,
electronics, electromagnetics, electric power systems, and con-
trol systems, while covering the emerging fields of VLSI
systems, digital systems, computer engineering, computer-
aided design and optimization techniques, signal processing,

digital communications, and communication networks. This
handbook is not an all-encompassing digest of everything
taught within an electrical engineering curriculum. Rather, it
is the engineer’s first choice in looking for a solution. There-
fore, full references to other sources of contributions are pro-
vided. The ideal reader is a B.S. level engineer with a need for a
one-source reference to keep abreast of new techniques and
procedures as well as review standard practices.
Background
The handbook stresses fundamental theory behind profes-
sional applications. In order to do so, it is reinforced with
frequent examples. Extensive development of theory and
details of proofs have been omitted. The reader is assumed to
have a certain degree of sophistication and experience. How-
ever, brief reviews of theories, principles, and mathematics of
some subject areas are given. These reviews have been done
concisely with perception. The handbook is not a textbook
replacement, but rather a reinforcement and reminder of ma-
terial learned as a student. Therefore, important advancement
and traditional as well as innovative practices are included.
Since the majority of professional electrical engineers gradu-
ated before powerful personal computers were widely avail-
able, many computational and design methods may be new to
them. Therefore, computers and software use are thoroughly
covered. Not only does the handbook use traditional references
to cite sources for the contributions, but it also contains
relevant sources of information and tools that would assist
the engineer in performing his/her job. This may include
sources of software, databases, standards, seminars, confer-
ences, and so forth.

Organization
Over the years, the fundamentals of electrical engineering have
evolved to include a wide range of topics and a broad range of
practice. To encompass such a wide range of knowledge, the
handbook focuses on the key concepts, models, and equations
that enable the electrical engineer to analyze, design, and
predict the behavior of electrical systems. While design formu-
las and tables are listed, emphasis is placed on the key concepts
and theories underlying the applications.
The information is organized into nine major sections,
which encompass the field of electrical engineering. Each
section is divided into chapters. In all, there are 72 chapters
involving 108 authors, each of which was written by leading
experts in the field to enlighten and refresh knowledge of
the mature engineer and educate the novice. Each section
contains introductory material, leading to the appropriate
applications. To help the reader, each article includes two
important and useful categories: defining terms and references.
Defining terms are key definitions and the first occurrence of
each term defined is indicated in boldface in the text. The
references provide a list of useful books and articles for
following reading.
Locating Your Topic
Numerous avenues of access to information contained in the
handbook are provided. A complete table of contents is pre-
sented at the front of the book. In addition, an individual table
of contents precedes each of the nine sections. The reader is
urged to look over these tables of contents to become familiar
with the structure, organization, and content of the book. For
example, see Section VII: Signal Processing, then Chapter 7:

VLSI Signal Processing, and then Chapter 7.3: Hardware Im-
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page xv
Copyright ß 2004 by Academic Press.
All rights of reproduction in any form reserved.
xv
plementation. This tree-like structure enables the reader to
move up the tree to locate information on the topic of interest.
The Electrical Engineering Handbook is designed to provide
answers to most inquiries and direct inquirer to further
sources and references. We trust that it will meet your need.
Acknowledgments
The compilation of this book would not have been possible
without the dedication and efforts of the section editors, the
publishers, and most of all the contributing authors. I particu-
larly wish to acknowledge my wife, Shiao-Ling, for her pa-
tience and support.
Wai-Kai Chen
Editor-in-Chief
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page xvi
xvi Preface
Editor-in-Chief
Wai-Kai Chen, Professor and Head Emeritus of the Department
of Electrical Engineering and ComputerScience at the University
of Illinois at Chicago. He received his B.S. and M.S. in electrical
engineering at Ohio University, where he was later recognized as
a Distinguished Professor. He earned his Ph.D. in electrical
engineering at University of Illinois at Urbana-Champaign.
Professor Chen has extensive experience in education and
industry and is very active professionally in the fields of
circuits and systems. He has served as visiting professor

at Purdue University, University of Hawaii at Manoa, and
Chuo University in Tokyo, Japan. He was Editor-in-Chief
of the IEEE Transactions on Circuits and Systems, Series I and
II, President of the IEEE Circuits and Systems Society, and is
the Founding Editor and Editor-in-Chief of the Journal of
Circuits, Systems and Computers. He received the Lester R.
Ford Award from the Mathematical Association of America,
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page xvii
Dr. Wai-Kai Chen
Copyright ß 2004 by Academic Press.
All rights of reproduction in any form reserved.
xvii
the Alexander von Humboldt Award from Germany, the JSPS
Fellowship Award from Japan Society for the Promotion of
Science, the National Taipei University of Science and Technol-
ogy Distinguished Alumnus Award, the Ohio University
Alumni Medal of Merit for Distinguished Achievement in En-
gineering Education, the Senior University Scholar Award and
the 2000 Faculty Research Award from the University of Illinois
at Chicago, and the Distinguished Alumnus Award from the
University of Illinois at Urbana/Champaign. He is the recipient
of the Golden Jubilee Medal, the Education Award, and the
Meritorious Service Award from IEEE Circuits and Systems
Society, and the Third Millennium Medal from the IEEE. He
has also received more than dozen honorary professorship
awards from major institutions in Taiwan and China.
A fellow of the Institute of Electrical and Electronics Engin-
eers (IEEE) and the American Association for the Advance-
ment of Science (AAAS), Professor Chen is widely known in
the profession for his Applied Graph Theory (North-Holland),

Theory and Design of Broadband Matching Networks (Perga-
mon Press), Active Network and Feedback Amplifier Theory
(McGraw-Hill), Linear Networks and Systems (Brooks/Cole),
Passive and Active Filters: Theory and Implements (John Wiley),
Theory of Nets: Flows in Networks (Wiley-Interscience), The
Circuits and Filters Handbook (CRC Press) and The VLSI
Handbook (CRC Press).
Dr. Wai-Kai Chen
Chen: Circuit Theroy Prelims: Final Proof 21.8.2004 7:45am page xviii
xviii Editor-in-Chief
I
CIRCUIT THEORY
Circuit theory is an important and perhaps the oldest branch
of electrical engineering. A circuit is an interconnection of
electrical elements. These include passive elements, such as
resistances, capacitances, and inductances, as well as active
elements and sources (or excitations). Two variables, namely
voltage and current variables, are associated with each circuit
element. There are two aspects to circuit theory: analysis and
design. Circuit ana lysis involves the determination of current
and voltage values in different elements of the circuit, given the
values of the sources or excitations. On the other hand, circuit
design focuses on the design of circuits that exhibit a certain
prespecified voltage or current characteristics at one or more
parts of the circuit. Circuits can also be broadly classified as
linear or nonlinear circuits.
This section consists of five chapters that provide a broad
introduction to most fundamental principles and techniques
in circuit analysis and design:
.

Linear Circuit Analysis
.
Circuit Analysis: A Graph-Theoretic Foundation
.
Computer-Aided Design
.
Synthesis of Networks
.
Nonlinear Circuits.
Chen: Circuit Theroy Section 1 – Chapter 1: Final Proof 20.8.2004 6:13am page 1Chen: Circuit Theroy Section 1 – Chapter 1: Final Proof 20.8.2004 6:13am page 1
Krishnaiyan Thulasiraman
School of Computer Science,
University of Oklahoma,
Norman, Oklahoma, USA
This page intentionally left blank
1
Linear Circuit Analysis
1.1 Definitions and Terminology
An electric charge is a physical property of electrons and
protons in the atoms of matter that gives rise to forces between
atoms. The charge is measured in coulomb [C]. The charge of
a proton is arbitrarily chosen as positive and has the valu e of
1:601 Â10
À19
C, whereas the charge of an electron is chosen as
negative with a value of À1:601 Â10
À19
C. Like charges repel
while unlike charges attract each other. The electric charges
obey the principle of conservation (i.e., charges cannot be

created or destroyed).
A current is the flow of electric charge that is measured by
its flow rate as coulombs per second with the units of ampere
[A]. An ampere is defined as the flow of charge at the rate of
one coulomb per second (1 A ¼1 C/s). In other words, current
i(t) through a cross section at time t is given by dq/dt, where
Chen: Circuit Theroy Section 1 – Chapter 1: Final Proof 20.8.2004 6:13am page 3Chen: Circuit Theroy Section 1 – Chapter 1: Final Proof 20.8.2004 6:13am page 3
P.K. Rajan and Arun Sekar
Department of Electrical and
Computer Engineering,
Tennessee Technological University,
Cookeville, Tennessee, USA
1.1 Definitions and Terminology 3
1.2 Circuit Laws 6
1.2.1 Kirchhoff’s Current Law
.
1.2.2 Kirchhoff’s Voltage Law
1.3 Circuit Analysis 6
1.3.1 Loop Current Method
.
1.3.2 Node Voltage Method (Nodal Analysis)
1.4 Equivalent Circuits 9
1.4.1 Series Connection
.
1.4.2 Parallel Connection
.
1.4.3 Star–Delta (Wye–Delta or T–Pi)
Transformation
.
1.4.4 Thevenin Equivalent Circuit

.
1.4.5 Norton Equivalent Circuit
.
1.4.6 Source Transformation
1.5 Network Theorems 12
1.5.1 Superposition Theorem
.
1.5.2 Maximum Power Transfer Theorem
1.6 Time Domain Analysis 13
1.6.1 First-Order Circuits
.
1.6.2 Second-Order Circuits
.
1.6.3 Higher Order Circuits
1.7 Laplace Transform 16
1.7.1 Definition
.
1.7.2 Laplace Transforms of Common Functions
.
1.7.3 Solution of
Electrical Circuits Using the Laplace Transform
.
1.7.4 Network Functions
1.8 State Variable Analysis 20
1.8.1 State Variables for Electrical Circuits
.
1.8.2 Matrix Representation of State Variable
Equations
.
1.8.3 Solution of State Variable Equations

1.9 Alternating Current Steady State Analysis 22
1.9.1 Sinusoidal Voltages and Currents
.
1.9.2 Complex Exponential Function
.
1.9.3 Phasors in Alternating Current Circuit Analysis
.
1.9.4 Phasor Diagrams
.
1.9.5 Phasor Voltage–Current Relationships of Circuit Elements
.
1.9.6 Impedances and
Admittances in Alternating Current Circuits
.
1.9.7 Series Impedances and Parallel
Admittances
.
1.9.8 Alternating Current Circuit Analysis
.
1.9.9 Steps in the Analysis of
Phasor Circuits
.
1.9.10 Methods of Alternating Current Circuit Analysis
.
1.9.11 Frequency Response Characteristics
.
1.9.12 Bode Diagrams
1.10 Alternating Current Steady State Power 26
1.10.1 Power and Energy
.

1.10.2 Power in Electrical Circuits
.
1.10.3 Power Calculations
in AC Circuits
Copyright ß 2004 by Academic Press.
All rights of reproduction in any form reserved.
3
q(t) is the charge that has flown through the cross section up to
time t :
i(t) ¼
dq(t)
dt
[A]: (1:1)
Knowing i, the total charge, Q, transferred during the time
from t
1
to t
2
can be calculated as:
Q ¼
ð
t2
t1
idt [C]: (1:2)
The voltage or potential difference (V
AB
) betw een two points
A and B is the amount of energy required to move a unit
positive charge from B to A. If this energy is positive, that is
work is done by external sources against forces on the charges,

then V
AB
is positive and point A is at a higher potential with
respect to B. The voltage is measured using the unit of volt [V].
The voltage between two points is 1 V if 1 J (joule) of work is
required to move 1 C of charge. If the voltage, v, between two
points is constant, then the work, w, done in moving q cou-
lombs of charge between the two points is given by:
w ¼ vq [J]: (1:3)
Power (p) is the rate of doing work or the energy flow rate.
When a charge of dq coulombs is moved from point A to point
B with a potential difference of v volts, the energy supplied
to the charge will be vdqjoule [J]. If this movement takes
place in dt seconds, the power supplied to the charge will be
v dq/dt watts [W]. Because dq/dt is the charge flow rate defined
earlier as current i, the power supplied to the charge can be
written as:
p ¼ vi [W]: (1:4)
The energy supplied over duration t1tot2 is then given by:
w ¼
ð
t2
t1
vi dt [J]: (1:5)
A lumped electrical element is a model of an electr ical device
with two or more terminals through which current can flow in
or out ; the flow can pass only through the terminals. In a two-
terminal element, current flows through the element entering
via one terminal and leaving via another terminal. On the
other hand, the voltage is present across the element and

measured between the two terminals. In a multiterminal ele-
ment, current flows through one set of terminals and leaves
through the remaining set of terminals. The relation between
the voltage and current in an element, known as the v–i
relation, defines the element’s characteristic. A circuit is made
up of electrical elements.
Linear elements include a v–i relation, which can be linear if
it satisfies the homogeneity property and the superposition
principle. The homogeneity property refers to proportionality;
that is, if i gives a voltage of v, ki gives a voltage of kv for any
arbitrary constant k. The superposition principle implies addi-
tivity; that is, if i
1
gives a voltage of v
1
and i
2
gives a voltage of
v
2
, then i
1
þ i
2
should give a voltage v
1
þ v
2
. It is easily verified
that v ¼ Ri and v ¼ Ldi=dt are linear relations. Elements that

possess such linear relations are called linear elements, and a
circuit that is made up of linear elements is called a linear
circuit.
Sources, also known as active elements, are electrical ele-
ments that provide power to a circuit. There are two types of
sources: (1) independent sources and (2) dep endent (or con-
trolled) sources. An independent voltage source provides a
specified voltage irrespective of the elements connected to it.
In a similar manner, an independent current source provides a
specified current irrespective of the elements connected to it.
Figure 1.1 shows representations of independent voltage and
independent current sources. It may be noted that the value of
an independent voltage or an independent current source may
be constant in magnitude and direction (called a direct current
[dc] source) or may vary as a function of time (called a time-
varying source). If the variation is of sinusoidal nature, it is
called an alternating current (ac) source.
Values of dependent sources depend on the voltage or
current of some other element or elements in the circuit.
There are four classes of dependent sou rces: (1) voltage-
controlled voltage source, (2) current-controlled voltage
source, (3) voltage-controlled current source and (4) current-
controlled current source. The representations of these
dependent sources are shown in Table 1.1.
Passive elements consume power. Names, symbols, and the
characteristics of some commonly used passive elements are
given in Table 1.2. The v–i relation of a linear resistor, v ¼ Ri,
Chen: Circuit Theroy Section 1 – Chapter 1: Final Proof 20.8.2004 6:13am page 4Chen: Circuit Theroy Section 1 – Chapter 1: Final Proof 20.8.2004 6:13am page 4
+
+

−
−
v(t) 5 V
(A) (B) (C) (D)
+
−
l(t)
A) General voltage source
B) Voltage source : dc
C) Voltage source : ac
D) General current source
FIGURE 1.1 Independent Voltage and Current Sources
4 P.K. Rajan and Arun Sekar
is known as Ohm’s law, and the linear relations of other passive
elements are sometimes called generalized Ohm’s laws. It may
be noted that in a passive element, the polarit y of the voltage is
such that current flows from positive to neg ative terminals.
This polarity marking is said to follow the passive polarity
convention.
A circuit is formed by an interconnection of circuit elements
at their terminals. A node is a junction point where the
TABLE 1.1 Dependent Sources and Their Representation
Element Voltage and current relation Representation
Voltage-controlled voltage source v
2
¼ av
1
a : Voltage gain
v
1

v
2
++
+
−
−
−
Voltage-controlled current source i
2
¼ g
t
v
1
g
t
: Transfer conductance
v
1
i
2
+
−
Current-controlled voltage source v
2
¼ r
t
i
1
rt : Transfer resistance
v

2
+
+
−
−
i
1
Current-controlled current source i
2
¼ bi
1
b: Current gain
i
2
i
1
TABLE 1.2 Some Passive Elements and Their Characteristics
Name of the element Symbol The v–i relation Unit
Resistance: R
+−
v
R
i
v ¼ Ri ohm [V]
Inductance: L
+
i
L
v
−

v ¼ Ldi=dt henry [H]
Capacitance: C
−+
i
C
v
i ¼ Cdv=dt farad [F]
Mutual
Inductance: M
−−
++
L
1
L
2
v
2
M
v
1
i
1
i
2
v
1
¼ Mdi
2
=dt þ L
1

di
1
=dt
v
2
¼ Mdi
1
=dt þ L
2
di
2
=dt
henry [H]
Chen: Circuit Theroy Section 1 – Chapter 1: Final Proof 20.8.2004 6:13am page 5
1 Linear Circuit Analysis 5