Real-time hybrid simulation combines experimental testing and numerical simulation, and thus provides a viable alternative for the dynamic testing of civil engineering structures. Actuator delay compensation is vital to achieve a stable and reliable real-time hybrid simulation. An adaptive inverse compensation scheme for mitigating the effects of actuator delay is presented in this paper. A tracking-error based adaptive control law is developed to adapt a compensation parameter to minimize actuator control error due to an unknown time-varying actuator delay. Real-time hybrid simulations of a single-degree-of-freedom moment resisting frame with an elastomeric damper are conducted to experimentally demonstrate the effectiveness of the proposed adaptive compensation method. The adaptive compensation scheme is shown to improve actuator tracking capability by effectively negating a poorly estimated actuator delay.
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