Struc Dyn Sys Control 1

Structural Control – Theory Part 1
Satish Nagarajaiah
Professor, Civil Eng.
(Joint MECH & Mat. Sc. NanoEng.)
Rice University, Houston, Texas
ASIA PACIFIC EUROPE SUMMER SCHOOL

July 17, 2017
Yokohama National University, Tokyo
1 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

Introduction
Brief Introduction to Current

Research by Satish Nagarajaiah
Group at Rice University

Structural System Identification, Adaptive Stiffness Systems,
Sensing & Integrity Assessment
• Seismic Adaptive Stiffness
Protection Systems
Aging infrastructure and Resilience

Advanced problem (Trillions of dollars issue). Key
Nonlinear
Dynamic Protective Questions: What is the remaining life? Can
Analysis Systems
it be extended Reliably? How much will it
cost?
▪New Methods: Advanced Structural
System Identification, Structural Health Monitoring
Identification (SHM), Sensing, Fatigue and Damage
Sensing
Detection, and Integrity Assessment,
Advanced Protective Systems
Statistical Learning,
Sparse and Low
Rank Methods Applied
Nanotechnology

Core Research Areas
Resilience
FORWARD AND INVERSE
ANALYSIS– STATISTICAL
LEARNING MEHTODS
Linear and Nonlinear
Systems
INTEGRITY
SYSTEM & SIGNAL ASSESSMENT AND
IDENTIFICATION RETROFIT
Sparse and Low Rank Structural Integrity
Methods for and Safety, Prognosis,
Structural Remaining Life
Identification, Estimation, Retrofit –
Damage Assessment Adaptive Stiffness
Systems

Adaptive Passive Negative Stiffness Structures
Project Objectives:
 Development of adaptive passive negative stiffness system and
the concept of “apparent yielding” in a NEES-SG project 2008-
2014
Pasala, D.T.R., Sarlis, A.A., Nagarajaiah, S.,

Reinhorn, A.M., Constantinou, M.C. and
Taylor, D. “Adaptive Negative Stiffness: A
New Structural Modification Approach for
Seismic Protection”, J. of Structural
Eng., ASCE, DOI 10.1061/(ASCE)ST.1943-
541X.0000615, 139 (7): 1112-1123 (2013).

Non-Contact Strain Sensing Smart Skin - S4(using
SWCNT and Laser NIR Spectroscopy)
Project Objectives: Key Achievements:
 Development of laser based noncontact strain sensing  Invented a new strain sensing smart skin
smart skin containing SWCNT  Successfully developed laser NIR spectroscopy based non-
Team Members: contact strain sensing skin made up of Single Walled Carbon
Nanotubes and polymer top coat that can be applied on any
 Satish Nagarajaiah, Professor, Rice University
metallic surface (of say an aircraft wing or rotors) to successfully
 Bruce Weisman, Professor, Rice University measure 2D- Strain Map.
 Peng Sun, Ph. D. Student, Dr. Sergi Bachillo, Post Doc
Smart Ski Peak shift

n
SWCNT
Emission wavelength Strain
Polymeric Transfe
host r
Substrate
Target
strain surface
Peng Sun, Sergei M Bachilo, R Bruce Weisman, and Satish Nagarajaiah “Carbon nanotubes as non-contact optical strain
sensors in smart skins” The Journal of Strain Analysis for Engineering Design, 50 th Anniversary Special Issue, October 2015 50:
505-512, doi:10.1177/0309324715597414

Plate with Crack in Tension: Comparison of S4 & FEM
(left) S4 (right) FEA model

Residual strain distribution xx with the same scale bar
7 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu 7/52

Sparse and Low Rank Methods: Structural-ID
✓ Sparse representation & low-rank
structure of large-scale data set
✓ Rapid & unsupervised (“blind”)

system ID & damage detection
✓ Data cleansing and data compression
✓ Data-driven, no prior knowledge

of structures, minimal user involvement
✓ Real-world structures applications
Nagarajaiah, S., and Yang, Y. (2016) ”Modeling

and harnessing sparse and low-rank data
structure: a new paradigm for structural
dynamics, identification, damage detection, and
health monitoring,” Structural Control Health
Frequency = 1.099 Hz
Monitoring, doi: 10.1002/stc.1851.

Sparse Modal Identification/Damage ID
Project Objectives:
 Development of Sparse and Low Rank Methods for Key Achievements:
Structural Identification, Damage Detection, Data  Successfully developed several new algorithms for
Cleansing, and Data Compression
output only modal identification (signal based
Team Members: identification), damage detection, advanced data
 Satish Nagarajaiah, Professor, Rice University processing.
 Yongchao Yang, Post Doc and former Ph.D. Student
 Debarshi Sen, Zhilu Lai, Doctoral Students
Y. Yang & S. Nagarajaiah (2013), “Underdetermined Modal ID via Sparsity, “ J. Sound Vibration, 332 (19):
4741-4765.

Structural Control
Introduction to Structural Control

Theory

Definition: Control system
 Objective: Improve the “performance” of an
engineering system.
 Performance
 Stabilizing the unstable system
 Ex.: Inverted pendulum
 Tracking [tracing a trajectory]
 Ex.: Aircraft landing
 Regulation [maintaining the system at a set-point]
 Ex.: Response control in buildings [Zero displacement and velocity]
Any system that achieves this objective is a control system

Components
 System
 Controller
 Sensors
 Actuators
 Plant outputs
 Exogenous inputs
 Controller Inputs
 Controller outputs

Terminology
 System, Structure, Plant: Physical object to be
controlled.
 Control effort, Control force: Force exerted by the
actuator on the system.
 Feedback Control: Using the measured output to
find the control force that would result in desired
system performance.
 Closed-loop control systems: Feedback control
systems.
 Open-loop control systems: Output has no
influence on the control action

Issues in Control Design
 Modeling of the system
 First principles
 System Identification
 Is the system Controllable?
 Is the system Observable?
 Controller Design
 Stability
 Performance
 Robustness

History
 Classical Control (Frequency Domain) Approach
 Transfer Function
 Bode/Nyquist Plot
 Gain/Phase Margins
 Modern (Time domain) Approach
 State space
 Kalman Filtering
 Linear quadratic control
 Post modern Approach
 State space formulation with frequency domain interpretation
 Robust control
 H 2 , H  Control
 LMI Control

System Representation
 A linear system can be represented in Transfer function form
as
Y ( s) 12.5
 2
U ( s) s  0.24s  101
 Above system can also be represented in state space form as
x  Ax  Bu
y  Cx  Du
 A : System matrix
 B : Input Influence Matrix
 C : Output/Measurement matrix
 D : Direct transmission matrix
 Task is to determine, the state space matrices A,B,C,D
 State space representation and implementation helps us in
MIMO control problems.

System Representation (Contd.)
Y ( s) 12.5  MATLAB
 2 tf : Transfer Function
U ( s) s  0.24 s  101 
 zpk: Pole Zero

y  0.24 y  101 y  12.5u  ss: State Space
tf2ss: Transfer function to state
Let, x1  y, x2  y  x1 Then 
space form
x1  x2
Mass : 1 kg
x2  0.24 x2  101x1  12.5u Stiffness : 101 N/m
 x1   0 1   x1   0  Damping : 0.24 N.sec/m
 x    101 0.24   x   12.5 u Natural frequency : 10.05 rad/sec
 2   2   Damping : 1.2%
A B
 x1 
Output : y  1 0  
C  x2 
System Representation MIMO (Contd.)
x  Ax  Bu
y  Cx  Du
Take Laplace Transform

sX ( s ) - x(0)  AX ( s )  BU ( s )
Y ( s )  CX ( s )  DU ( s )
We assume x(0)  0 for deriving transfer function matrix

X ( s )  ( sI - A)-1 BU ( s )
Substitute X ( s ) in Y ( s)
Y ( s )  [C ( sI - A)-1 B  D ]U ( s )
Y ( s)
 G ( s )  [C ( sI - A)-1 B  D ]
U (s)
Controllability
 A system is said to be state controllable at t = t0 if it is possible
by means of an unconstrained control signal to transfer the
system from an initial state x(t0 ) to any other state in a finite
time interval
t0  t  t1
 Completely state controllable: every state is controllable
X  A X  B U
nn n1 n1
 Condition: The above system is completely state controllable if

and only if the vectors B, AB, ……An-1B are linearly
independent or the n x n matrix M is of rank n
M   B | AB | ... | An1B 
n n
 In Matlab, command is ctrb(A,B)

Controllability (Contd.)
Example :  x1  1 1   x1  0
 x   0 1  x   1  u

 2   2  
1 1 
Is NOT Controllable, because M  [B AB]     rank ( M )  1  rank ( A)
0 0 
Q. Which of the following systems is NOT state controllable and Why?

 x1   1 0   x1   2 
A.  x    0 2   x   5  u
 2   2  
 x1   1 0   x1   2 
B.  x    0 2   x   0  u NOT state controllable
 2   2  
Remark: Uncontrollable system has a subsystem that is physically

disconnected from the input.

Controllability (Contd.)
Condition for complete state Controllability in s-plane
In terms of transfer function, necessary and
sufficient condition for controllability is that no
cancellation occurs in the transfer function for SISO
systems or transfer function matrix for MIMO
systems.
If cancellation occurs, the system cannot be

controlled in the direction of the cancelled mode.
 s  2.5
Example: X (s)
 is not Controllable.
U ( s) ( s  2.5) ( s  1)
 x1   0 1   x1  1 1 1
 x    2.5 1.5  x   1 u  M   B AB      Not Controllable
 2   2   1 1

Stabilizabilty
• For a partially controllable system, if the

uncontrollable modes are stable and the unstable
modes are controllable, the system is said to be
stabilizable.
• Example:
 x1  1 0   x1  1 
 x   0 1  x   0 u (not controllable)
 2   2  
• The stable mode corresponding to eigen value of

-1 is not controllable, but the unstable mode
corresponding to eigen value of 1 is controllable.
Thus this system is stabilizable.

Observability
• A system is said to be state observable if every state x(t) can
be determined from the observation of y(t) over a finite
interval of time
t0  t  t1
• Completely state Observable: every state is Observable
xn1  Ann xn1  Bnr ur1

ym1  Cmn xn1  Dmr ur1
• Condition: The above system is completely state controllable
if and only if the vectors CT, ATCT, …… (AT)n-1CT are linearly
independent or the n x nm Observability matrix is of rank n
Observability matrix N=[CT AT CT ( AT )n1 CT ]
• In Matlab command is obsv(A,C) or ctrb(AT,CT)

Observability (Contd.)
 x1   1 1   x1  0 
• Example1 :  x    2 1  x   1  u
 2   2  
x 
y  1 0  1 
 x2 
Is Observable, because
1 1
N  [C T AT C T ]     rank ( N )  2  rank ( A)
0 1
Q. Which of the following systems is NOT Observable and Why?

 x1   1 0   x1   x1 
A.  x    0 2   x  y  1 3  
 2   2  x2 
 x1   1 0   x1   x1 
B.  x    0 2   x  y   0 1   NOT Observable
 2   2  x2 
Remark: Unobservable system has a zero element in C that

corresponds to distinct eigen value of A.
Observability (Contd.)
Condition for complete Observability in s-plane

In terms of transfer function, necessary and sufficient condition for
Observability is that no cancellation occurs in the transfer function
for SISO systems or transfer function matrix for MIMO systems.
If cancellation occurs, the system cannot be observed in the
direction of the cancelled mode.
Detectability
For a partially observable system, if the unobservable modes are
stable and the observable modes are unstable, the system is said to
be detectable.

Controller Design
 Objectives:
 Stabilize
 Increase damping
 Shift the frequency
 Methods
 Pole placement
 H 2 , LQR and LQG Control
 H  Control

Properties of 2nd order system
Unit Step Response
1. Underdamped Case (0    1)
Poles: s1,2  n  jd
d  n 1   2 A pair of imaginary roots.
im
C ( s) n2 s  n  jd
 
R( s)  s  n  jd  s  n  jd  x
n

1
Unit Step Input: R( s)  -  n o
s re
x
cos  = 
Using Partial Fraction Expansion and ILT, we have:

c(t )  1  ent (cos d t  sin d t ) Time constant,  
1
1 2
 n

Unit Step Response (contd.)
2. Critically Damped Case (  1) 3. Overdamped Case (  1)
Poles: s1,2  n Poles: two distinct real poles
C (s) n2 s1   n   n  2  1


R( s) ( s   n )2
s2   n   n  2  1
R( s) 
1 C ( s) n2
Unit Step Input: 
s R( s)  s  s1  s  s2 
Using Partial Fraction Expansion and ILT, we have: 1
Unit Step Input: R( s) 
s
c(t )  1  ent (1  nt ) Using Partial Fraction Expansion and ILT, we have:
im
n e s1t e s2t 
c(t )  1    
2  s1 s
2 1  2 
im
xx
o
re
A pair of double real roots.
x x
o re
Two distinct real poles

The Effect of Damping Ratio on a 2nd-Order System
Unit Step Response of a 2nd-order System (2D)
• The less the damping ratio, the more the

system oscillates.
• The less the damping ratio, the faster the Unit Step Response of a 2nd-order System (3D)
system responds.
• No oscillations when   1

Relationship Between Pole Location and Transient Performance
2nd order System – Impulse Response
• System is unstable if the there is a pole is
on the RHS of the s-plane.
• System is stable if all the poles are on the
LHS of the s-plane.
• The less the time constant, the faster the
system’s transient response.
• The further the pole is away from the
imaginary axis, the faster the system’s
transient response is.
Natural
frequency
increases
Damping ratio increases

Time constant decreases

Second Order System: Some Important Loci
Important
Loci of Constant Damping Ratio Loci of Constant Undamped Natural Frequency

im
3 1 1
o
re
1 2 3
Loci of Constant Damped Natural Frequency Loci of Constant Time Constant

Pole Placement Control
• Pole Placement offers the flexibility to the designer to place
the poles of the system so as to achieve desired performance
of the system.
• We assume all the states are measurable and available for
feedback.
• The system should be controllable.
• If controllability condition is satisfied, we can find n
independent feedback gains in a system so that the
arbitrarily assigned/desired poles performance is achieved.
• For a SISO system, we designed a compensator so as to
reassign the dominant closed loop poles for desired
performance specifications.
• Pole placement controls can assign n poles and helps us in
MIMO control.

Block diagram representation of plant
• A linear system can be represented in block diagram

form as
x  Ax  Bu
y  Cx  Du
• Review for poles in s-plane
Loci of Constant Undamped Natural

Frequency
Loci of Constant Damping Ratio
Q. Which of the two systems, the one shown in red and the other in
blue, has good damping characteristics and faster response?
A. The one in blue.

y
• For a system given by x  Ax  Bu + x Ax Bu C
y  Cx -
x
K
• Pole placement feedback control law:
u   Kx
• This is also called full state feedback pole placement control.
The underlying
• Thus, Closed loop system and its solution is given as: assumption is
x(t )  ( A  BK ) x(t ) all the states x
are available
x(t )  e( A BK ) x(0) for feedback
• The eigen values of (A-BK) determine the stability and
transient response of the system. They are also called
regulator poles.
• MATLAB: place(A,B,p) or acker(A,B,p)

Closed loop system block diagram
x  Ax  Bu
y  Cx
u   Kx
Example: 3 DOF Structure
 m1 0 0  u1   k1  k2 k2 0   u1 
   
M   0 m2 0  ;U  u2  ; K   k2 k2  k3 k3  ;U  u2  ;
 0 0 m3     
u3   0  k3 k3  u3 
c1  c2 c2 0 
C   c2 c2  c3 c3  ;
 0 c3 c3 
 4.7835 0 0   4.3582 2.3635 0 

M  105  0 4.7835 0  ; K  108  2.3635 3.7566 1.3931 ;
 0 0 5.1779  0 1.3931 1.3931 
 2.7421 0.8976 0.1596  4.7835
 
C  105  0.8976 2.4274 0.7353 ; F    4.7835105 xg
 0.1596 0.7353 1.5075  5.1779 
 

Example: 3 DOF Structure
Poles of the System 40

40
0.052 0.036 0.026 0.018 0.011 0.005 35
30
30
0.085 Transfer Fuction fron 1st story actuator to 1st story displacement
Open-Loop System -120
25
Closed-Loop System
-140
20
Magnitude (dB)
20
-160
15
0.16
-180
10
10
Imaginary Axis
-200
5
-220
0 -240
360
5 315 Open-Loop System
Phase (deg)
-10 Closed-Loop System
10 270
0.16
15 225
-20 180
20
25 135
0 1 2 3
0.085 10 10 10 10
-30
30
Frequency (rad/sec)
0.052 0.036 0.026 0.018 0.011 0.005 35
-40
-2.5 -2 -1.5 -1 -0.5 40 0
Real Axis

Structural Control
 Classification
 Active Control
 Continuous control effort
 Continuous feedback signal
 Power source to drive the actuator
 Passive Control
 No feedback signal
 External power supply is not required
 Semi-active Control
 Limited power supply
 Limited feedback

Passive Control
 The forces exerted by passive control devices are developed in
response to the motion of the structure
 A passive control system does not need external power
 Example:
 Supplemental damping devices
 Adding devices that dissipate energy
 Base Isolation
 Decouple the superstructure from its substructure (foundation) using isolators
 Isolators are very flexible compared to the superstructure
 energy transmitted from the ground accumulates at the isolation level
 Tuned Mass Dampers or Vibration absorbers

 Convert the energy imparted from ground motion to the energy among vibrating modes
of an auxiliary system added to the structure

Base Isolation (Base), Fluid Dampers (Floors), Negative Stiffness Devices (Floors),
or Tuned Mass Dampers at the Top of the Building

Passive Control – Base Isolation
 Period lengthening with energy absorber
 Force reduction
 Increase in displacement
 Low stiffness of the isolator increases the time
period of the isolated-structure
 Increased displacements at isolation level can be
controlled by the addition of energy dissipater or
damper

Passive Control – Tuned Mass Damper
 0     0.10
  0.32
u1, max
u1, stat


1
Passive Control – Tuned Mass Damper
u1, max
u1, stat
 

1

Taipei 101 – Pendulum Tuned Mass Damper
http://www.youtube.com/watch?v=NYSgd1XSZXc
Semi-active Control: Controllable Damping – MR Damper
Professor Spencer and his Group
Mx  C ( x , t ) x  Kx  f (t )

Semi-active Control : Semi-active Variable Stiffness Device – SAIVS
Professor Nagarajaiah and his Group
Mx  Cx  K ( x, t ) x  f (t )

SDOF – with SAIVS Device – Response Functions
SDOF-SAIVS CONTROL TESTS
1.5
o x * EXPERIMENTAL
o OPEN
...... ANALYTICAL
x CLOSED
REL.DISP.(IN)
0.5
* CONTROLLED
0
0 1 2 3 4 5 6
FREQ.(Hz)
FREQ.(hz)
- INSTANTANEOUS FREQUENCY ... TBL. DISP.(in) x 40
10
0
-10
0 5 10 15
2
DISP. (in)
- Controlled - Closed - Open

0
-2
ACCN.(in/sec2)
0 5 10 15
1000 - Controlled - Closed - Open
0
-1000
0 5 10 15
2
DEV.POSN.
OPEN
0
(in)
Controlled
CLOSED
-2
0 5 10 15
TIME (sec)

EXPERIMENT TBL: EL CENTRO EARTHQUAKE; SAIVS: CONTROLLED
REL.DISP.(IN)
-2
0 1 2 3 4 5 6 7 8 9 10
ABS.ACC.(g)
0.2
-0.2
0 1 2 3 4 5 6 7 8 9 10
TBL.DISP.(IN)
0.1
-0.1
0 1 2 3 4 5 6 7 8 9 10
1
POS.(IN)
SAIVS
-1
0 1 2 3 4 5 6 7 8 9 10
TIME (SEC)
Citi-Corp Building:
Smart –Tuned Mass Damper
McNamara R.J. (1977)." Tuned mass dampers for

buildings". Journal of the Structural Division
ASCE;103(9):1785-1798.
Nagarajaiah S. (2009) "Adaptive Passive, Semiactive, Smart

Tuned Mass Dampers: identification and control using
empirical mode decomposition, Hilbert transform, and
short-term Fourier transform". Structural Health
Monitoring & Control; 16(7-8):800–841.
Semi-active Control
 STMD: Adjustable Length Pendulum Damper

TMD: References
 Nagarajaiah, S., and Jung, H-J. “Smart tuned mass dampers: recent developments,” Smart Structures and Systems, DOI:
10.12989/sss.2014.13.2.173, 13(2), 173-176 (2014).
 Pasala, D. T. R., and Nagarajaiah, S. “Adaptive-length pendulum smart tuned mass damper using shape-memory-alloy wire for
tuning period in real time,” Smart Structures and Systems, DOI: 10.12989/sss.2014.13.2.203, 13(2), 203-217 (2014).
 Sun, C., and Nagarajaiah, S. “Study on semi-active tuned mass damper with variable damping and stiffness under seismic
excitations,” Structural Control and Health Monitoring, DOI: 10.1002/stc.1620, 21(6), 890–906 (2014).
 J79. Sun, C., Nagarajaiah, S. and Dick, A. J. “Family of smart tuned mass dampers with variable frequency under harmonic
excitations and ground motions: closed-form evaluation” Smart Structures and Systems, DOI:10.12989/sss.2014.13.2.319,
13(2), 319-341 (2014).
 Contreras, M.T., Pasala, D. T. R. and Nagarajaiah, S. “Adaptive length SMA pendulum smart tuned mass damper performance in
the presence of real time primary system stiffness change,” Smart Structures and Systems, DOI: 10.12989/sss.2014.13.2.219,
13(2), 219-233 (2014).
 Sun, C., Eason, R.P., Nagarajaiah, S., Dick, A.J. “Hardening Düffing oscillator attenuation using a nonlinear TMD, a semi-active
TMD and multiple TMD,” Journal of Sound and Vibration, DOI: 10.1016/j.jsv.2012.10.016, 332 (4), 674-686, (2013)
 Eason, R.P., Sun, C., Dick, A.J., Nagarajaiah, S. “Attenuation of a linear oscillator using a nonlinear and a semi-active tuned mass
damper in series,” Journal of Sound and Vibration, DOI: 10.1016/j.jsv.2012.07.048, 332 (1), 154-166, (2013).
 Arrigan, J., Prakash, V., Basu, B. and Nagarajaiah, S. “Control of Flapwise Vibrations in Wind Turbine Blades using semi-active
tuned mass dampers” Structural Control and Health Monitoring Article, published online: 5 AUG 2010, DOI: 10.1002/stc.404,
18 (8), 840-851 (2011)
 Nagarajaiah, S. “Adaptive Passive, Semiactive, Smart Tuned Mass Dampers: Identification and Control using Empirical Mode
Decomposition, Hilbert transform, and Short-Term Fourier transform,” Structural Control and Health Monitoring, 16(7-8), 800-
841 (2009).
 Nagarajaiah, S., and Sonmez, E. “Structures of semiactive variable stiffness multiple tuned mass dampers under harmonic
forces,” Journal of Structural Engineering, ASCE, 133(1), 67-77 (2007).
 Nagarajaiah, S. and Varadarajan, N. “Semi-active control of wind excited building with variable stiffness TMD using short time
Fourier transform,”Engineering Structures, 27(3), 431-441 (2005).
 Varadarajan, N. and Nagarajaiah, S. “Wind response control of building with variable stiffness tuned mass damper using
empirical mode decomposition and Hilbert Transform,” Journal of Engineering Mechanics, ASCE, 130(4), 451-458 (2004).

Active Variable Stiffness System: Professor T. Kobori
– Kobori Research Complex, Tokyo, Japan

“Apparent Weakening” by Negative Stiffness
PSa
“Negative Stiffener and Damper” Damping
Sd
PSa
Sd
WHAT IS NEGATIVE STIFFNESS?
•Negative: Forces in the same direction of •Q:Why add stiffness and then subtract?
displacement •A: Adapt stiffness as desired, but ensure
•Stiffness: Force per Unit Displacement stability
•How do we create Negative Stiffness?
USA Patent Pending

CONCEPT OF TRUE NEGATIVE STIFFNESS
Nagarajaiah et al (2010), 5th World Conference on
Structural Control and Monitoring
WEAKENING AND DAMPING
Reinhorn A.M. et al., Smart Structures and Systems (2006)
What is achieved:
1) Emulate yielding by adding
negative stiffness (NS)
2) Add damping to reduce
displacement
3) Achieve the same result as yielding
without damage
4) Damping ratio is increased
Need a device to generate red line:
1) Generates NS passively
2) Is self contained
Pasala et al. (April 2012) J. of Structural Engineering ASCE

Adaptive Passive Negative Stiffness Structures
Project Objectives: Key Achievements:
 Development of adaptive passive negative stiffness system and
 Developed a new adaptive passive NEGATIVE STIFFNESS DEVICE
the concept of “apparent yielding” in a NEES-SG project 2008-
(Patented) and tested in Buildings and Bridges on UB – NEES
2014
Shake Table; demonstrated successfully that the concept has
Team Members: significant potential.
 Satish Nagarajaiah, Rice University
 Andrei Reinhorn and Michael Constantinou, Univ. at Buffalo
 Douglas Taylor, Taylor Devices, Buffalo
 7 Ph.D. Students
Pasala, D.T.R., Sarlis, A.A., Nagarajaiah, S.,

Reinhorn, A.M., Constantinou, M.C. and
Taylor, D. “Adaptive Negative Stiffness: A
New Structural Modification Approach for
Seismic Protection”, J. of Structural
Eng., ASCE, DOI 10.1061/(ASCE)ST.1943-
541X.0000615, 139 (7): 1112-1123 (2013).

NSD and Applications: References
 Nagarajaiah, S., Pasala, D.T.R., Reinhorn, A.M., Constantinou, M.C., Sarlis, A.A., and Taylor, D. “Adaptive Negative Stiffness: A New
Structural Modification Approach for Seismic Protection”, Advanced Materials Research, 639-640,pp 54-66, 2013.
 Pasala D. T. R., Sarlis A. A., Nagarajaiah S., Reinhorn A. M., Constantinou M. C. and Taylor D. “Seismic isolation of multi-storey
structures using negative stiffness device: Experimental study”, Earthquake engineering and structural dynamics, (tentatively
accepted).
 Pasala D. T. R. and Nagarajaiah S. “Analytical study: Multi-storey seismic isolators and energy absorbers for high-rise
structures”, ASCE: Journal of Structural Engineering (in review).
 Pasala, D.T.R., Sarlis, A.A., Nagarajaiah, S., Reinhorn, A.M., Constantinou, M.C. and Taylor, D. “Adaptive Negative Stiffness: A New
Structural Modification Approach for Seismic Protection”, Journal of Structural Engineering, ASCE, 139 (7), 2013.
 Pasala, D.T.R., Sarlis, A.A., Reinhorn, A.M., Nagarajaiah, S., Constantinou, M.C., and Taylor, D. “Simulated Bilinear-Elastic Behavior
in a SDOF Elastic Structure Using Negative Stiffness Device: Experimental and Analytical Study”, Journal of Structural
Engineering, ASCE, 140(2), 2013.
 Pasala, D.T.R., Sarlis, A.A., Reinhorn, A.M., Nagarajaiah, S., Constantinou, M.C., and Taylor, D. “Apparent Weakening in SDOF
Yielding Structures Using a Negative Stiffness Device: Experimental and Analytical Study”, Journal of Structural Engineering,
ASCE, 141(4), 2014.
 Constantinou M.C., Reinhorn A.M., Sarlis A.A., Taylor D., Lee D.A., Nagarajaiah S. and Pasala D.T.R. “Negative Stiffness Device and
Method”, US Patent # 8857110 B2, October 2014.
 Sarlis, A.A., Pasala, D.T.R., Constantinou, M.C., Reinhorn, A.M., Nagarajaiah, S., and Taylor, D. “Negative stiffness device for seismic
protection of structures”, Journal of Structural Engineering, ASCE, 139 (7), 2013.
 Attary, N., Symans, M.D., Nagarajaiah, S., Reinhorn, A.M., Constantinou, M.C., Sarlis, A.A., Pasala, D.T.R. and Taylor, D.
”Experimental Shake Table Testing of a Mechanical Adaptive Passive Negative Stiffness Device within a Quarter-Scaled Bridge
Model.” Journal of Earthquake Spectra. July 2014
 Attary, N., Symans, M.D., Nagarajaiah, S., Reinhorn, A.M., Constantinou, M.C., Sarlis, A.A., Pasala, D.T.R. and Taylor, D. “Performance
Evaluation of Adaptive Negative Stiffness Devices for Seismic Response Control of Bridge Structures via Experimental Shake
Table Tests and Associated Numerical Simulations.” Journal of Earthquake Engineering, 19(2), 2014.
 Attary, N., Symans, M.D., Nagarajaiah, S., Reinhorn, A.M., Constantinou, M.C., Sarlis, A.A., Pasala, D.T.R. and Taylor, D. “Numerical
Simulations of a Highway Bridge Structure Employing Passive Negative Stiffness Device for Seismic Protection.”, Earthquake
Engineering and Structural Dynamics, October 2014.

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Structural Control – Theory Part 1

ASIA PACIFIC EUROPE SUMMER SCHOOL

1 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

Brief Introduction to Current

2 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

Aging infrastructure and Resilience

3 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

4 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

Pasala, D.T.R., Sarlis, A.A., Nagarajaiah, S.,

5 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

Smart Ski Peak shift

6 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

(left) S4 (right) FEA model

7 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu 7/52

✓ Rapid & unsupervised (“blind”)

✓ Data cleansing and data compression

✓ Data-driven, no prior knowledge

✓ Real-world structures applications

Nagarajaiah, S., and Yang, Y. (2016) ”Modeling

8 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

9 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

Introduction to Structural Control

10 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

Any system that achieves this objective is a control system

11 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

12 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

13 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

14 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

15 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

16 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

 zpk: Pole Zero

Take Laplace Transform

We assume x(0)  0 for deriving transfer function matrix

 Condition: The above system is completely state controllable if

 In Matlab, command is ctrb(A,B)

19 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

Q. Which of the following systems is NOT state controllable and Why?

Remark: Uncontrollable system has a subsystem that is physically

20 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

If cancellation occurs, the system cannot be

21 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

• For a partially controllable system, if the

• The stable mode corresponding to eigen value of

22 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

xn1  Ann xn1  Bnr ur1

• In Matlab command is obsv(A,C) or ctrb(AT,CT)

23 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

Q. Which of the following systems is NOT Observable and Why?

Remark: Unobservable system has a zero element in C that

Condition for complete Observability in s-plane

25 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

26 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

d  n 1   2 A pair of imaginary roots.

27 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

Poles: s1,2  n Poles: two distinct real poles

C (s) n2 s1   n   n  2  1

28 Dynamic Systems, System Identification, Smart Structures – satishnagarajaiah.rice.edu

Unit Step Response of a 2nd-order System (2D)