Electromagnetic Wave Propagation

Lecture 3: Plane waves in isotropic and

bianisotropic media
Daniel Sjöberg

Department of Electrical and Information Technology

September 11, 2012

 Outline

1 Plane waves in lossless media

General time dependence
Time harmonic waves

2 Polarization

3 Wave propagation in bianisotropic media

4 Interpretation of the fundamental equation

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 Outline

1 Plane waves in lossless media

General time dependence
Time harmonic waves

2 Polarization

3 Wave propagation in bianisotropic media

4 Interpretation of the fundamental equation

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 Plane electromagnetic waves

In this lecture, we dive a bit deeper into the familiar right-hand

rule, x̂ × ŷ = ẑ.

x
y
z

This is the building block for most of the course.

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 Outline

1 Plane waves in lossless media

General time dependence
Time harmonic waves

2 Polarization

3 Wave propagation in bianisotropic media

4 Interpretation of the fundamental equation

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Propagation in source free, isotropic, non-dispersive media
The electromagnetic field is assumed to depend only on time and
one coordinate, z. This implies ( and µ are scalar constants)
E(x, y, z, t) = E(z, t)
D(x, y, z, t) = E(z, t)
H(x, y, z, t) = H(z, t)
B(x, y, z, t) = µH(z, t)
∂ ∂ ∂ ∂
and by using ∇ = x̂ ∂x + ŷ ∂y + ẑ ∂z → ẑ ∂z we have
∂B ∂E ∂H
∇×E =− ẑ × = −µ
∂t ∂z ∂t
∂D ∂H ∂E
∇×H = =⇒ ẑ × =
∂t ∂z ∂t
∂Ez
∇·D =0 =0 ⇒ Ez = 0
∂z
∂Hz
∇·B =0 =0 ⇒ Hz = 0
∂z
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 Rewriting the equations
The electromagnetic field has only x and y components, and satisfy
∂E ∂H
ẑ × = −µ
∂z ∂t
∂H ∂E
ẑ × =
∂z ∂t
Using (ẑ × F ) × ẑ = F for any vector F orthogonal to ẑ, and
√ p
c = 1/ µ and η = µ/ , we can write this as
∂ 1∂
E=− (ηH × ẑ)
∂z c ∂t
∂ 1∂
(ηH × ẑ) = − E
∂z c ∂t
which is a symmetric hyperbolic system (note E and ηH have the
same units)
    
∂ E 1∂ 0 1 E
=−
∂z ηH × ẑ c ∂t 1 0 ηH × ẑ
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 Wave splitting

The change of variables

      
E+ 1 E + ηH × ẑ 1 1 1 E
= =
E− 2 E − ηH × ẑ 2 1 −1 ηH × ẑ

with inverse
      
E E+ + E− 1 1 E+
= =
ηH × ẑ E+ − E− 1 −1 E−

is called a wave splitting and diagonalizes the system to

∂E + 1 ∂E +
=− ⇒ E + (z, t) = F (z − ct)
∂z c ∂t
∂E − 1 ∂E −
=+ ⇒ E − (z, t) = G(z + ct)
∂z c ∂t

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 Forward and backward waves
The total fields can now be written as a superposition

E(z, t) = F (z − ct) + G(z + ct)

1  
H(z, t) = ẑ × F (z − ct) − G(z + ct)
η
A graphical interpretation of the forward and backward waves is

(Fig. 2.1.1 in Orfanidis)

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 Energy density in one single wave
A wave propagating in positive z direction satisfies H = η1 ẑ × E

x
y
x: Electric field
z y: Magnetic field
z: Propagation direction

The Poynting vector and energy densities are (using the BAC-CAB
rule A × (B × C) = B(A · C) − C(A · B))
 
1 1
P =E×H =E× ẑ × E = ẑ|E|2
1 η η
we = |E|2
2
1 1 1 1
wm = µ|H|2 = µ 2 |ẑ × E|2 = |E|2 = we
2 2 η 2
Thus, the wave carries equal amounts of electric and magnetic
energy.
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 Energy density in forward and backward wave

If the wave propagates in negative z direction, we have

H = η1 (−ẑ) × E and

1 1
P =E×H = E × (−ẑ × E) = − ẑ|E|2
η η

Thus, when the wave consists of one forward wave F (z − ct) and
one backward wave G(z + ct), we have
1  2 
P =E×H = ẑ |F | − |G|2
η
1 1
w = |E|2 + µ|H|2 = |F |2 + |G|2
2 2

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 Outline

1 Plane waves in lossless media

General time dependence
Time harmonic waves

2 Polarization

3 Wave propagation in bianisotropic media

4 Interpretation of the fundamental equation

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 Time harmonic waves
We assume harmonic time dependence
E(x, y, z, t) = E(z)ejωt
H(x, y, z, t) = H(z)ejωt
Using the same wave splitting as before implies
∂E ± 1 ∂E ± jω
=∓ = ∓ E± ⇒ E ± (z) = E 0± e∓jkz
∂z c ∂t c
where k = ω/c is the wave number in the medium. Thus, the
general solution for time harmonic waves is
E(z) = E 0+ e−jkz + E 0− ejkz
1  
H(z) = H 0+ e−jkz + H 0− ejkz = ẑ × E 0+ e−jkz − E 0− ejkz
η
The triples {E 0+ , H 0+ , ẑ} and {E 0− , H 0− , −ẑ} are right-handed
systems.
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 Wavelength
A time harmonic wave propagating in the forward z direction has
the space-time dependence E(z, t) = E 0+ ej(ωt−kz) and
H(z, t) = η1 ẑ × E(z, t).

(Fig. 2.2.1 in Orfanidis)

The wavelength corresponds to the spatial periodicity according to

e−jk(z+λ) = e−jkz , meaning kλ = 2π or
2π 2πc c
λ= = =
k ω f

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 Refractive index
The wavelength is often compared to the corresponding
wavelength in vacuum
c0
λ0 =
f
The refractive index is
r
λ0 k c0 µ
n= = = =
λ k0 c 0 µ0
Important
p special case: non-magnetic media, where µ = µ0 and
n = /0 .
c0 η0 λ0
c= , η= , λ= , k = nk0
n | {z n } n
only for µ = µ0 !

Note: We use c0 for the speed of light in vacuum and c for the
speed of light in a medium, even though c is the standard for the
speed of light in vacuum!
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EMANIM program

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 Energy density and power flow

For the general time harmonic solution

E(z) = E 0+ e−jkz + E 0− ejkz

1  
H(z) = ẑ × E 0+ e−jkz − E 0− ejkz
η
the time average Poynting vector and energy density are
 
1 h
∗
i 1 2 1 2
P = Re E(z) × H (z) = ẑ |E 0+ | − |E 0− |
2 2η 2η
1 h i 1 1
w = Re E(z) · E ∗ (z) + µH(z) · H ∗ (z) = |E 0+ |2 + |E 0− |2
4 2 2

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 Wave impedance
p
For forward and backward waves, the impedance η = µ/ relates
the electric and magnetic field strengths to each other.

E ± = ±ηH ± × ẑ

When both forward and backward waves are present this is

generalized as (in component form)

[E(z)]x Ex (z) E0+x e−jkz + E0−x ejkz

Zx (z) = = =η
[H(z) × ẑ]x Hy (z) E0+x e−jkz − E0−x e−jkz
[E(z)]y Ey (z) E0+y e−jkz + E0−y ejkz
Zy (z) = = =η
[H(z) × ẑ]y −Hx (z) E0+y e−jkz − E0−y e−jkz

Thus, the wave impedance is in general a non-trivial function of z.

This will be used as a means of analysis and design in the course.

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 Material and wave parameters
We note that we have two material parameters
Permittivity , defined by D = E.
Permeability µ, defined by B = µH.
But the waves are described by the wave parameters
√
Wave number k, defined by k = ω µ.
p
Wave impedance η, defined by η = µ/.
This means that in a scattering experiment, where we measure
wave effects, we primarily get information on k and η, not  and µ.
In order to get material data, a theoretical material model must be
applied.

Often, the wave number is given by transmission data (phase

delay), and the wave impedance is given by reflection data
(impedance mismatch). More on this in future lectures!
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 Outline

1 Plane waves in lossless media

General time dependence
Time harmonic waves

2 Polarization

3 Wave propagation in bianisotropic media

4 Interpretation of the fundamental equation

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 Why care about different polarizations?

I Different materials react differently to different polarizations.

I Linear polarization is sometimes not the most natural.
I For propagation through the ionosphere (to satellites), or
through magnetized media, often circular polarization is
natural.

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 Complex vectors

The time dependence of an electric field propagating in the +z

direction is
E(z, t) = Re{E 0 ej(ωt−kz) }
where the complex amplitude can be written

E 0 = x̂A+ + ŷB+ = x̂Aejφa + ŷBejφb

where A and B are positive real numbers. We then have

E(z, t) = Re{x̂Aej(ωt−kz+φa ) + ŷBej(ωt−kz+φb ) }

= x̂A cos(ωt − kz + φa ) + ŷB cos(ωt − kz + φb )

In the plane defined by kz = φb , this is (where φ = φa − φb )

E(z, t) = x̂A cos(ωt + φ) + ŷB cos(ωt)

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Linear polarization (φ = 0)

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Circular polarization (φ = π/2)

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 IEEE definition of left and right
With your right hand thumb in the propagation direction and
fingers in rotation direction: right hand circular.

(Fig. 2.5.1 in Orfanidis)

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 Elliptical polarization

The general polarization state is elliptical

The direction ê is parallel to the Poynting vector (the power flow).

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 Classification of polarization
The complex polarization vector satisfies (with φ = φa − φb )
E 0 × E ∗0 = (x̂Aejφa + ŷBejφb ) × (x̂Ae−jφa + ŷBe−jφb )
= ẑABej(φa −φb ) − ẑABej(φb −φa ) = ẑAB2j sin φ
The following classification can be given (ê is the propagation
direction):
−jê · (E 0 × E ∗0 ) Polarization
=0 Linear polarization
>0 Right handed elliptic polarization
<0 Left handed elliptic polarization
Further, circular polarization is characterized by E 0 · E 0 = 0.
Typical examples:
Linear: E 0 = x̂ or E 0 = ŷ.
Circular: E 0 = x̂ − jŷ (right handed for ê = ẑ) or
E 0 = x̂ + jŷ (left handed for ê = ẑ).
See the literature for more in depth descriptions.
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 Alternative bases in the plane

To describe an arbitrary vector in the xy-plane, the unit vectors

x̂ and ŷ

are usually used. However, we could just as well use the RCP and
LCP vectors
x̂ − jŷ and x̂ + jŷ
Sometimes the linear basis is preferrable, sometimes the circular.

An example is given when modelling ferromagnetic materials in

handin 1.

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 Outline

1 Plane waves in lossless media

General time dependence
Time harmonic waves

2 Polarization

3 Wave propagation in bianisotropic media

4 Interpretation of the fundamental equation

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 Observations

Some fundamental properties are observed from the isotropic case:

√ p
I The wave speed c = 1/ µ and wave impedance η = µ/
depend on the material properties.
I Waves can propagate in the positive or negative z-direction.
I For each propagation direction, there are two possible
polarizations (x̂ and ŷ, or RCP and LCP etc).
We will generalize this to bianisotropic materials, where
    
D(ω) (ω) ξ(ω) E(ω)
=
B(ω) ζ(ω) µ(ω) H(ω)

See sections 1 and 2 in the book chapter “Circuit analogs for wave
propagation in stratified structures” by Sjöberg. The rest of the
paper is interesting but not essential to this course.

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 Wave propagation in general media

We now generalize to arbitrary materials in the frequency domain.

Our plan is the following:
1. Write up the full Maxwell’s equations in the frequency domain.
2. Assume the dependence on x and y appear at most through a
factor e−j(kx x+ky y) .
3. Separate the transverse components (x and y) from the z
components of the fields.
4. Eliminate the z components.
5. Identify the resulting differential equation as a dynamic
system for the transverse components,
     
∂ Et W11 W12 Et
= −jω ·
∂z H t × ẑ W21 W22 H t × ẑ

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 1) Maxwell’s equations in the frequency domain

Maxwell’s equations in the frequency domain are

h i
∇ × H = jωD = jω (ω) · E + ξ(ω) · H
h i
∇ × E = −jωB = −jω ζ(ω) · E + µ(ω) · H

The bianisotropic material is described by the dyadics (ω), ξ(ω),

ζ(ω), and µ(ω). The frequency dependence is suppressed in the
following.

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 2) Transverse behavior

Assume that the fields depend on x and y only through a factor

e−j(kx x+ky y) (corresponding to a Fourier transform in x and y)

E(x, y, z) = E(z)e−jkt ·r where kt = kx x̂ + ky ŷ

∂ −jkx x
Since ∂x e = −jkx e−jkx x , the action of the curl operator is
then
 
∂
∇ × E(x, y, z) = e−jkt ·r −jkt + ẑ × E(z)
∂z

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 3) Separate the components, curls

Split the fields according to

E = E t + ẑEz

where E t is in the xy-plane, and ẑEz is the z-component. By

expanding the curls, we find
 
∂ ∂
−jkt + ẑ ×E(z) = − jkt × E t − jkt × ẑEz + ẑ × E t
∂z | {z } | {z } |∂z {z }
parallel to ẑ orthogonal to ẑ
orthogonal to ẑ

∂Ez
There is no term with ∂z , since ẑ × ẑ = 0.

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 3) Separate the components, fluxes
Split the material dyadics as
         
Dt tt t ẑ Et ξ tt ξ t ẑ Ht
= · + ·
ẑDz ẑz zz ẑẑ ẑEz ẑξ z ξzz ẑẑ ẑHz

tt can be represented as a 2 × 2 matrix operating on xy

components, t and z are vectors in the xy-plane, and zz is a
scalar.

The transverse components of the electric flux are (vector

equation)

D t = tt · E t + t Ez + ξ tt · H t + ξ t Hz

and the z component is (scalar equation)

Dz = z · E t + zz Ez + ξ z · H t + ξzz Hz

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 4) Eliminate the z components

We first write Maxwell’s equations using matrices (all components)

           
∂ 0 −ẑ × I E 0 −jkt × I E  ξ E
· = · − jω ·
∂z ẑ × I 0 H jkt × I 0 H ζ µ H

The z components of these equations are (take scalar product with

ẑ and use ẑ · (kt × ẑEz ) = 0 and ẑ · (kt × E t ) = (ẑ × kt ) · E t )
            
0 0 −jẑ × kt Et  ξz Et  ξzz Ez
= · − jω z · − jω zz
0 jẑ × kt 0 Ht ζ z µz Ht ζzz µzz Hz

from which we solve for the z components of the fields:

−1 
−ω −1 ẑ × kt
       
Ez zz ξzz 0 z ξ z Et
= −1 − ·
Hz ζzz µzz ω ẑ × kt 0 ζ z µz Ht

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 4) Insert the z components

The transverse part of Maxwell’s equations are

      
∂ 0 −ẑ × I Et 0 −jkt × ẑ Ez
· =
∂z ẑ × I 0 Ht jkt × ẑ 0 Hz
      
 ξ tt Et  ξt Ez
− jω tt · − jω t
ζ tt µtt Ht ζ t µt Hz

Inserting the expression for [Ez , Hz ] previously derived implies

       
∂ 0 −ẑ × I Et tt ξ tt Et
· = −jω ·
∂z ẑ × I 0 Ht ζ tt µtt Ht
 
Et
+ jωA ·
Ht

where the matrix A is due to the z components.

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 4) The A matrix

The matrix A is a dyadic product

−ω −1 kt × ẑ
   
0 t ξ t
A= −
ω −1 kt × ẑ 0 ζ t µt
−1 
−ω −1 ẑ × kt
   
zz ξzz 0 z ξ z
−
ζzz µzz ω −1 ẑ × kt 0 ζ z µz

In particular, when kt = 0 we have

  −1  
t ξ t zz ξzz z ξ z
A=
ζ t µt ζzz µzz ζ z µz

and for a uniaxial material with the axis of symmetry along the ẑ
direction, where t = ξ t = ζ t = µt = 0 and
z = ξ z = ζ z = µz = 0, we have A = 0.

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 5) Dynamical system
Using −ẑ × (ẑ × E t ) = E t for any transverse vector E t , it is seen
that
       
0 −ẑ × I 0 −ẑ × I Et Et
· · =
I 0 ẑ × I 0 Ht H t × ẑ
The final form of Maxwell’s equations is then
           
∂ Et 0 −ẑ × I  ξ tt I 0 Et
= · −jω tt + jωA · ·
∂z H t × ẑ I 0 ζ tt µtt 0 ẑ × I H t × ẑ
or    
∂ Et Et
= −jωW ·
∂z H t × ẑ H t × ẑ
Due to the formal similarity with classical transmission line
formulas, the equivalent voltage and current vectors
   
V Et
=
I H t × ẑ
are often introduced in electrical engineering (just a relabeling).
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 Outline

1 Plane waves in lossless media

General time dependence
Time harmonic waves

2 Polarization

3 Wave propagation in bianisotropic media

4 Interpretation of the fundamental equation

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 Propagator

If the material parameters are constant, the dynamical system

   
∂ Et Et
= −jωW ·
∂z H t × ẑ H t × ẑ

has the formal solution

    E (z ) 
E t (z2 ) 
t 1
= exp − jω(z2 − z1 )W ·
H t (z2 ) × ẑ | {z } H t 1 ) × ẑ
(z
P(z1 ,z2 )

The matrix P(z1 , z2 ) is called a propagator. It maps the transverse

fields at the plane z1 to the plane z2 . Due to the linearity of the
problem, the propagator exists even if W does depend on z, but it
cannot be represented with an exponential matrix.

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 Eigenvalue problem

For media with infinite extension in z, it is natural to look for

solutions on the form
   
E t (z) E 0t
= e−jβz
H t (z) × ẑ H 0t × ẑ
∂
This implies ∂z [E t (z), H t (z) × ẑ] = −jβ[E 0t , H 0t × ẑ]e−jβz . We
then get the algebraic eigenvalue problem
   
β E 0t E 0t
=W·
ω H 0t × ẑ H 0t × ẑ
        
0 −ẑ × I tt ξ tt I 0 E 0t
= · −A · ·
I 0 ζ tt µtt 0 ẑ × I H 0t × ẑ

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 Interpretation of the eigenvalue problem

Since the wave is multiplied by the exponential factor

ej(ωt−βz) = ejω(t−zβ/ω) = ejω(t−z/c) , we identify the eigenvalue as
the inverse of the phase velocity
β 1 n
= =
ω c c0
which defines the refractive index n of the wave. The transverse
wave impedance dyadic Z is defined through the relation

E 0t = Z · (H 0t × ẑ)

where [E 0t , H 0t × ẑ] is the corresponding eigenvector.

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 Example: “standard” media

An isotropic medium is described by

   
 ξ I 0
=
ζ µ 0 µI

For kt = 0, we have A = 0 and

      
0 −ẑ × I tt ξ tt I 0
W= · −A ·
I 0 ζ tt µtt 0 ẑ × I
 
  0 0 µ 0
0 µI 0 0 0 µ
= = 
I 0  0 0 0
0  0 0

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 Eigenvalues
The eigenvalues are found from the characteristic equation
det(λI − W) = 0
   
λ
 0 −µ 0   λ −µ 0
 0 
0 λ 0 −µ 0 0 λ −µ
0 =  = − 
− 0 λ 0  − λ 0 0 

 0 − 0 λ   0 0 − λ 
 
 λ −µ 0 0 
 
− λ 0 0  2 2
=  = (λ − µ)

 0 0 λ −µ 
0 0 − λ 

Thus, the eigenvalues are (with double multiplicity)

β √
= λ = ± µ
ω

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 Eigenvectors

Using that H t × ẑ = x̂Hy − ŷHx , the eigenvectors are (top row

√ √
corresponds to β/ω = µ, bottom row to β/ω = − µ):
   
Ex 0 r
0
 ,
 Ey  Ex Ey µ
 0 , Z= = = =η
 
Hy  Hy −Hx 
0 −Hx
   
Ex 0 r
0  Ey  Ex Ey µ
 ,
Hy   0 ,
  Z= = =− = −η
Hy −Hx 
0 −Hx

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 Propagator

The propagator matrix for isotropic media can be represented as

(after some calculations)
     
E t (z2 ) cos(β`)I j sin(β`)Z E t (z1 )
= ·
H t (z2 ) × ẑ j sin(β`)Z−1 cos(β`)I H t (z1 ) × ẑ

For those familiar with transmission line theory, this is the ABCD
matrix for a homogeneous transmission line.

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Conclusions for propagation in bianisotropic media

I We have found a way of computing time harmonic plane

waves in any bianisotropic material.
I The transverse components (x and y) are crucial.
I There are four fundamental waves: two propagation directions
and two polarizations.
I Each wave is described by
I The wave number β (eigenvalue of W)
I The polarization and wave impedance (eigenvector of W)
I The propagator P(z1 , z2 ) = exp(−jk0 (z2 − z1 )W) maps
fields at z1 to fields at z2 .
I A simple computer program is available on the course web for
calculation of W, given material matrices , ξ, ζ, and µ.

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