Effective force testing (EFT) is one of the force-based experimental methods for performance evaluation of structures that incorporate dynamic force control using hydraulic actuators. While previous studies have shown successful implementations of force control, controllable frequency ranges are limited to low frequencies (10 Hz). This study presents the EFT method using a robust loop shaping force feedback controller that can extend the frequency range up to 25 Hz. This study investigates the dynamic properties of hydraulic actuators and the design of a loop shaping controller that compensates for control-structure interaction as well as suppresses the effect of oil-column resonance. The designed loop shaping controller was successfully implemented into an EFT setup at the Johns Hopkins University. An experimental investigation was performed with linear and nonlinear test structures. Results showed that the loop shaping controller provided excellent force tracking performance as well as robustness for dynamic force loadings.
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