Establishing a stability switch criterion for effective implementation of real-time hybrid simulation

Real-time hybrid simulation (RTHS) is a promising cyber-physical technique used in the experimental evaluation of civil infrastructure systems subject to dynamic loading. In RTHS, the response of a structural system is simulated by partitioning it into physical and numerical substructures, and coupling at the interface is achieved by enforcing equilibrium and compatibility in real-time. The choice of partitioning parameters will influence the overall success of the experiment. In addition, due to the dynamics of the transfer system, communication and computation delays, the feedback force signals are dependent on the system state subject to delay. Thus, the transfer system dynamics must be accommodated by appropriate actuator controllers. In light of this, guidelines should be established to facilitate successful RTHS and clearly specify: (i) the minimum requirements of the transfer system control, (ii) the minimum required sampling frequency, and (iii) the most effective ways to stabilize an unstable simulation due to the limitations of the available transfer system. The objective of this paper is to establish a stability switch criterion due to systematic experimental errors. The RTHS stability switch criterion will provide a basis for the partitioning and design of successful RTHS.