In this paper we purpose a new actuator control algorithm achieves the design flexibility, robustness and tracking accuracy to give RTHS 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 (LQE) block for minimizing noise effect and a feed-forward block 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 2500 kN, 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. RTHS validation is implemented using a 3 DOF building frame equipped with an MR damper on both setups. Results using the two very different physical setups illustrate that RIAC is efficient and accurate.
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