Abstract
In this paper, we propose a new actuator control algorithm that achieves the design flexibility, robustness, and tracking accuracy to give real-time hybrid-simulation users the power to achieve highly accurate and robust actuator control. The robust integrated actuator control (RIAC) strategy integrates three key control components: loop shaping feedback control based on H optimization, a linear-quadratic-estimation block for minimizing noise effect, and a feed-forward block that reduces small residual delay/lag. The combination of these components provides flexible controller design to accommodate setup limits while preserving the stability of the H algorithm. The efficacy of the proposed strategy is demonstrated through two illustrative case studies: one using large capacity but relatively slow actuator of 2500kN and the second using a small-scale fast actuator. Actuator tracking results in both cases demonstrate that the RIAC algorithm is effective and applicable for different setups. Real-time hybrid-simulation validation is implemented using a three-DOF building frame equipped with a magneto-rheological damper on both setups. Results using the two very different physical setups illustrate that RIAC is efficient and accurate. Copyright (c) 2014 John Wiley & Sons, Ltd.