Author ORCID Identifier

Year of Publication


Degree Name

Master of Science in Civil Engineering (MSCE)

Document Type

Master's Thesis




Civil Engineering

First Advisor

Dr. Mariantonieta Gutierrez Soto


Real-time hybrid simulation (RTHS) is a versatile and cost-effective testing method for studying the performance of structures subjected to dynamic loading. RTHS decomposes a structure into partitioned physical and numerical sub-structures that are coupled together through actuation systems. The sub-structuring approach is particularly attractive for studying large-scale problems since it allows for setting up large-scale structures with thousands of degrees of freedom in numerical simulations while specific components can be studied experimentally.The actuator dynamics generate an inevitable time delay in the overall system that affects the accuracy and stability of the simulation. Therefore, developing robust tracking control methodologies are necessary to mitigate these adverse effects. This research presents a state of the art review of tracking controllers for RTHS, and proposes a Conditional Adaptive Time Series (CATS) compensator based on the principles of the Adaptive Time Series compensator (ATS). The accuracy of the proposed controller is evaluated with a benchmark problem of a three-story building with a single degree of freedom (SDOF) in a realistic virtual RTHS (vRTHS). In addition, the accuracy of the proposed method is evaluated for seven numerical integration algorithms suitable for RTHS.

Digital Object Identifier (DOI)