Normalized passivity control for robust tuning in real?time hybrid tests

Real-time hybrid testing involves the separation of a system into an experimental component and numerically simulated substructure which are coupled run together. The coupling between substructures is achieved using actuators force sensors comprise transfer system. Close synchronization required for reliable testing. However, actuator lag may cause tracking errors instability in tests. Existing compensation schemes require identification dynamics can be sensitive to changes these components. Passivity control technique intended maintain stability without need or assumptions about test specimens. Yet, tuning existing passivity controllers both being tested amplitude frequency range excited. This paper presents new, normalized controller behaves well across much broader operating conditions once tuned single-test scenario. proposed approach uses virtual damping element on numerical dissipate spurious power injected by system, based ratio net output mean throughput. scheme has been shown result identical performance linear with step excitations from 0.5 mm up 500 mm. method used improve fidelity isolation alongside other further performance.