Information about nonlinear dynamic behavior of structural systems under loads is largely gained through experimental testing. With advancements in hydraulic pumps, actuators and data acquisition systems, the physical hardware in major structural laboratories worldwide has seen significant improvements. However, the control algorithm to regulate the test is still limited to the outdated linear control algorithms. Linear controllers such as PID controllers were originally developed to regulate linear systems. When a specimen is subjected to highly nonlinear states, the linear controller can no longer regulate the testing setup effectively. This paper focuses on the development and implementation of a nonlinear control algorithm to regulate shaking table tests. The simulation results show that the proposed nonlinear control algorithm can be used to achieve excellent tracking, even when the tested structure behaves nonlinearly. The example also demonstrates the ability of the nonlinear control algorithm to compensate for disturbances. This provides superior performance over traditional PID controller which allows the structures to be tested more accurately and effectively.
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