Discrete-Time Compensation Technique for Real-Time Hybrid Simulation

One of the challenges to perform Real-Time Hybrid Simulation (RTHS) test is to compensate time delay introduced by servo-hydraulic actuators. In the past decade, several compensators have been designed and successfully applied in RTHS to reduce actuators time delay. These compensators have shown great promises in tracking command signals with low frequency content. However, many dynamic testing applications require generating excitations with relatively high frequency contents. To address this need, the current study is to provide an optimal compensation technique which can allow hydraulic actuators to track inputs with higher frequency content. The feasibility of this method is proven both in numerical and experimental study.