Towards error‐free hybrid simulation using mixed variables

Two procedures are developed and implemented in a hybrid simulation system (HSS) with the aim of enhancing the accuracy and reliability of the online, i.e. pseudo‐dynamic, test results. The first procedure aims at correcting the experimental systematic error in executing the displacement command signal. The error is calculated as the difference between command and feedback signals and correlated to the actuator velocity using the least‐squares method. A feed‐forward error compensation scheme is devised leading to a more accurate execution of the test. The second procedure employs mixed variables with mode switching between displacement and force controls. The newly derived force control algorithm is evaluated using a parametric study to assess its stability and accuracy. The implementation of the mixed variables procedure is designed to adopt force control for high stiffness states of the structural response and displacement control otherwise, where the resolution of the involved instruments may favour this type of mixed control. A simple pseudo‐dynamic experiment of steel cantilever members is used to validate the HSS. Moreover, two experiments as application examples for the two developed procedures are presented. The two experiments focus on the seismic response of (a) timber shear walls and (b) reinforced concrete frames with and without unreinforced masonry infill wall. Copyright © 2007 John Wiley & Sons, Ltd.