THE ELECTRICAL

ENGINEERING
HANDBOOK

WAI-KAI CHEN
EDITOR-IN-CHIEF

AMSTERDAM • BOSTON • HEIDELBERG • LONDON

NEW YORK • OXFORD ° PARIS ° SAN DIEGO
ELSEVIER SAN FRANCISCO • SINGAPORE ° SYDNEY ° TOKYO
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 Contributors

Rashid Ansari Weng Cho Chew

Department of Electrical and Computer Engineering Center for Computational Electromagnetics
University of Illinois at Chicago Department of Electrical and Computer Engineering
Chicago, Illinois, USA University of Illinois at Urbana-Champaign
Urbana, Illinois, USA
Faisal Bashir
Department of Electrical and Computer Engineering George A. Constantinides
University of Illinois at Chicago Department of Electrical and Electronic Engineering
Chicago, Illinois, USA Imperial College of Science, Technology,
and Medicine
Magdy Bayoumi London, UK
The Center for Advanced Computer Studies
University of Louisiana at Lafayette Koen Danckaert
Lafayette, Louisiana, USA IMEC
Leuven, Belgium
Christopher 1. Bett
Raytheon Integrated Defense Systems Tarek Darwish
Tewksbury, Massachusetts, USA The Center for Advanced Computer Studies
University of Louisiana at Lafayette
Anjan Bose Lafeyette, Louisiana, USA
College of Engineering and Architecture
Washington State University Nirod K. Das
Pullman, Washington, USA Department of Electrical and Computer
Engineering
Erik Brockmeyer Polytechnic University
IMEC Brooklyn, New York, USA
Leuven, Belgium
Eduardo A.B. da Silva
Francky Catthoor Program of Electrical Engineering
IMEC Federal University of Rio de Janeiro
Leuven, Belgium Rio de Janeiro, Brazil

Morris Chang William R. Deal

Department of Electrical and Computer Engineering Northrup Grumman Space Technologies
Iowa State University Redondo Beach, California, USA
Ames, Iowa, USA
Franco De Flaviis
Peter Y. K. Cheung Department of Electrical and Computer
Department of Electrical and Electronic Engineering Engineering
Imperial College of Science, Technology, and Medicine University of California at Irvine
London, UK Irvine, California, USA

Copyright© 2005by AcademicPress. ix

All rights of reproductionin any form reserved.
x Contributors

Bob C. Degeneff Ravi S. Gorur

Department of Computer, Electrical, and Systems Engineering Department of Electrical Engineering
Rensselaer Polytechnic Institute Arizona State University
Troy, New York, USA Tempe, Arizona, USA

John R. Deller, Jr. Susan C. Hagness

Department of Electrical and Computer Engineering Department of Electrical and Computer Engineering
Michigan State University University of Wisconsin
East Lansing, Michigan, USA Madison, Wisconsin, USA

Rodolfo E. Diaz Fran Hanchek

Department of Electrical Engineering Intel Corporation
Ira A. Fulton School of Engineering Portland, Oregan, USA
Arizona State University
Tempe, Arizona, USA John Hansen
Department of Electrical and Computer Engineering
Paulo S. R. Diniz Michigan State University
Program of Electrical Engineering East Lansing, Michigan, USA
Federal University of Rio de Janeiro
Rio de Janeiro, Brazil Xudong He
School of Computer Science
Shantanu Dutt Florida International University
Department of Electrical and Computer Engineering Miami, Florida, USA
University of Illinois at Chicago
Chicago, Illinois, USA Bonnie S. Heck
School of Electrical and Computer Engineering
Mohamed Elgamel
Georgia Institute of Technology
The Center for Advanced Computer Studies
Atlanta, Georgia, USA
University of Louisiana at Lafayette
Lafayette, Louisiana, USA
Gerald T. Heydt
Department of Electrical Engineering
Jay Farrell
Arizona State University
Department of Electrical Engineering
Tempe, Arizona, USA
University of California
Riverside, California, USA
Yu-Hen Hu
Eby G. Friedman Department of Electrical and Computer Engineering
Department of Electrical and Computer Engineering University of Wisconsin-Madison
University of Rochester Madison, Wisconsin, USA
Rochester, New York, USA
Yih-Fang Huang
Vijay K. Garg Department of Electrical Engineering
Department of Electrical and Computer Engineering University of Notre Dame
University of Illinois at Chicago Notre Dame, Indiana, USA
Chicago, Illinois, USA
Sorin A. Huss
Turan G6nen Integrated Circuits and Systems Laboratory
College of Engineering and Computer Science Computer Science Department
California State University, Sacramento Darmstadt University of Technology
Sacramento, California, USA Darmstadt, Germany

Oscar R. Gonzfilez Tatsuo Itoh

Department of Electrical and Computer Engineering Department of Electrical Engineering
Old Dominion University University of California, Los Angeles
Norfolk, Virginia, USA Los Angeles, California, USA
Contributors yd

David R. Jackson Sun-Yung Kung

Department of Electrical and Computer Department of Electrical Engineering
Engineering Princeton University
University of Houston Princeton, New Jersey, USA
Houston, Texas, USA
Fred C. Lee
Gang Jin Center for Power Electronics Systems
Ford Motor Company The Bradley Department of Electrical Engineering
Dearborn, Michigan, USA Virginia Polytechnic Institute and State University
Blacksburg, Virginia, USA
Jian-Ming Jin
Center for Computational Electromagnetics Hsueh-Jyh Li
Department of Electrical and Computer Engineering Department of Electrical Engineering
University of Illinois at Urbana-Champaign National Taiwan University
Urbana, Illinois, USA Taipei, Taiwan

Atul G. Kelkar Xiaoqiu Li

Department of Mechanical Engineering Cummins Engine
Iowa State University Columbus, Indiana, USA
Ames, Iowa, USA
Stanley R. Liberty
Mladen Kezunovic Academic Affairs
Department of Electrical Engineering Bradley University
Texas A & M University Peoria, Illinois, USA
College Station, Texas, USA
Yao-Nan Lien
Shashank Khanvilkar Department of Computer Science
Department of Electrical and Computer National Chengchi University
Engineering Taipei, Taiwan
University of Illinois at Chicago
Chicago, Illinois, USA Derong Liu
Department of Electrical and Computer Engineering
Ashfaq Khokhar University of Illinois at Chicago
Department of Electrical and Computer Engineering Chicago, Illinois, USA
University of Illinois at Chicago
Chicago, Illinois, USA Wayne Luk
Department of Electrical and Electronic Engineering
Yean-Woei Kiang Imperial College of Science, Technology, and Medicine
Department of Electrical Engineering London, UK
National Taiwan University
Taipei, Taiwan Erik A. McShane
Department of Electrical and Computer Engineering
Surin Kittitornkun University of Illinois at Chicago
King Mongkut's Institute of Technology Ladkrabang Chicago, Illinois, USA
Bangkok, Thailand
Gelson V. Mendon~;a
Ivan S. Kourtev Department of Electronics
Department of Electrical and Computer Engineering COPPE/EE/Federal University of Rio de Janeiro
University of Pittsburgh Rio de Janeiro, Brazil
Pittsburgh, Pennsylvania, USA
Veena Misra
Chidamber Kulkani Department of Electrical and Computer Engineering
IMEC North Carolina State University
Leuven, Belgium Raleigh, North Carolina, USA
xii Contributors

Tadao Murata P.K. Rajan

Department of Computer Science Department of Electrical and Computer
University of Illinois at Chicago Engineering
Chicago, Illinois, USA Tennessee Technological University
Cookeville, Tennessee, USA
Lode Nachtergaele
IMEC Federico Rota
Leuven, Belgium Department of Electrical and Computer Engineering
University of Illinois at Chicago
David J. Nagel Chicago, Illinois, USA
Department of Electrical and Computer Engineering Politecnico di Torina, Italy
The George Washington University
Washington, D.C., USA Michael Sain
Department of Electrical Engineering
Krishna Naishadham University of Notre Dame
Massachusetts Institute of Technology Notre Dame, Indiana, USA
Lincoln Laboratory
Lexington, Massachusetts, USA Patrick M. Sain
Raytheon Company
Ajoy Opal EI Segundo, California, USA
Department of Electrical and Computer Engineering
University of Waterloo Sheppard Joel Salon
Waterloo, Ontario, Canada Department of Electrical Power Engineering
Renssalaer Polytechnic Institute
Rafil Ord6fiez Troy, New York, USA
Department of Electrical and Computer Engineering
University of Dayton Roll Schaumann
Dayton, Ohio, USA Department of Electrical and Computer Engineering
Portland State University
Mehmet C. Oztiirk Portland, Oregan, USA
Department of Electrical and Computer Engineering
North Carolina State University Dan Schonfeld
Raleigh, North Carolina, USA Department of Electrical and Computer
Engineering
Kevin M. Passino University of Illinois at Chicago
Department of Electrical and Computer Engineering Chicago, Illinois, USA
The Ohio State University
Columbus, Ohio, USA Cheryl B. Schrader
College of Engineering
Melinda Piket-May Boise State University
Department of Electrical and Computer Engineering Boise, Idaho, USA
University of Colorado
Boulda, Colorado, USA Michael Schr6ter
Institute for Electro Technology and Electronics
Yongxi Qian Fundamentals
Department of Electrical Engineering University of Technology
University of California, Los Angeles Dresden, Germany
Los Angeles, California, USA
Arun Sekar
Vesna Radisic Department of Electrical and Computer Engineering
Microsemi Corporation Tennessee Technological University
Los Angeles, California, USA Cookeville, Tennessee, USA
Contributors xiii

Yi Shang Kevin Tomsovic

Department of Computer Science School of Electrical Engineering and Computer Science
University of Missouri-Columbia Washington State University
Columbia, Missouri, USA Pullman, Washington, USA

Krishna Shenai Ljiljana Trajkovi~

Department of Electrical and Computer Engineering School of Engineering Science
University of Illinois at Chicago Simon Fraser University
Chicago, Illinois, USA Vancouver, British Columbia, Canada

Nabeel Shirazi Malay Trivedi

Xilinx, Inc. Department of Electrical and Computer Engineering
San Jose, California, USA University of Illinois at Chicago
Chicago, Illinois, USA
Michael Shur
Department of Electrical, Computer, and Systems Franco Trovo
Engineering Department of Electrical and Computer Engineering
Rensselaer Polytechnic Institute University of Illinois at Chicago
Troy, New York, USA Chicago, Illinois, USA
Politecnico di Torina, Italy
Jennie Si
Department of Electrical Engineering Ruediger Vahldieck
Arizona State University Laboratory for Electromagnetic Fields and Microwave
Tempe, Arizona, USA Electronics
Swiss Federal Institute of Technology
Marcio G. Siqueira Zurich, Switzerland
Cisco Systems
Sunnyvale, California, USA Lucia Valbonesi
Department of Electrical and Computer Engineering
John R. Smith University of Illinois at Chicago
IBM Chicago, Illinois, USA
T. J. Watson Research Center
Hawthorne, New York, USA Arnout Vandercappelle
IMEC
Thanos Stouraitis Leuven, Belgium
Department of Electrical and Computer
Engineering Mani Venkatasubramanian
University of Patras School of Electrical Engineering and Computer Science
Rio, Greece Washington State University
Pullman, Washington, USA
M.N.S. Swamy
Department of Electrical and Computer Engineering Jiri Vlach
Concordia University Department of Electrical and Computer Engineering
Montreal, Quebec, Canada University of Waterloo
Waterloo, Ontario, Canada
Allen Taflove
Department of Electrical and Computer Engineering Benjamin W. Wah
Northwestern University Computer and Systems Research Laboratory
Chicago, Illinois, USA University of Illinois at Urbana-Champaign
Urbana, Illinois, USA
Krishnaiyan Thulasiraman
School of Computer Science Yih-Chen Wang
University of Oklahoma Lucent Technologies
Norman, Oklahoma, USA Naperville, Illinois, USA
xiv Contributors

Keith W. Whites Stephen Yurkovich

Department of Electrical and Computer Engineering Center for Automotive Research
South Dakota School of Mines and Technology The Ohio State University
Rapid City, South Dakota, USA Columbus, Ohio, USA

Chang-Hee Won Mona E. Zaghloul

Department of Electrical Engineering Department of Electrical and Computer Engineering
University of North Dakota The George Washington University
Grand Forks, North Dakota, USA Washington, D.C., USA

KeWu Xunwei Zhou

Department of Electrical and Computer Engineering Center for Power Electronics Systems
Ecole Polytechnique The Bradley Department of Electrical Engineering
Montreal, Quebec, Canada Virginia Polytechnic Institute and State University
Blacksburg, Virginia, USA
Hung-Yu David Yang
Department of Electrical and Computer Engineering Lei Zhu
University of Illinois at Chicago Department of Electrical and Computer Engineering
Chicago, Illinois, USA Ecole Polytechnique
Montreal, Quebec, Canada
Gary G. Yen
Intelligent Systems and Control Laboratory
School of Electrical and Computer Engineering
Oklahoma State University
Stillwater, Oklahoma, USA

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
Copyright © 2005 by Academic Press.
All rights of reproduction in any form reserved.
Preface
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 79 chapters
involving 113 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 Ira-
XV
xvi Preface

plementation. This tree-like structure enables the reader to publishers, and most of all the contributing authors. I particu-
move up the tree to locate information on the topic of interest. larly wish to acknowledge my wife, Shiao-Ling, for her pa-
The Electrical Engineering Handbook is designed to provide tience and support.
answers to most inquiries and direct inquirer to further
sources and references. We trust that it will meet your need. Wai-Kai Chen
Editor-in-Chief

Acknowledgments
The compilation of this book would not have been possible
without the dedication and efforts of the section editors, the

Wai-Kai Chen, Professor and Head Emeritus of the Department
of Electrical Engineering and Computer Science 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
Dr. Wai-Kai Chen
Copyright© 2005by AcademicPress.
All rights of reproductionin any form reserved.
Editor-in-Chief
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 1EEE 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,
xvii
xviii
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
Mumni 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 Mumnus 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.
Editor-in-Chief
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