Optimal Control Design for Dynamic Load Effect

Reduction at Building Structure

Ferry Hadary1*, Zani Fudji Eko Susanto 2
1

University of Tanjungpura (UNTAN), Jalan Ahmad Yani, Pontianak 78124, Indonesia

2
PT. Aplikanusa Lintasarta, Jalan Gusti Hamzah No. 48B, Pontianak, Indonesia

Basically, building structure is as a direct bearing system design and multi degree of freedom model. In case of the implementation of
earthquake proof building structure can be also described by shearing strength building with attenuation which equivalent by
mathematical model from mechanical system structure in order of each floor. In this system the force always going well or proportional
with in the amount of the velocity and have opposite movement direction.
In that design structure, absolutely not only consider static load but also dynamic load caused by seismic effect or earthquake. Model
of the load can assume as an acceleration time function which work at the building. Therefore, the building structure should be adaptive
or responsive with the result that can change the vibration characteristic if dynamic load affective. However, the building structure not
reached for ideal stability caused by dynamic load.
The objective of this paper is to design the controller by application of optimal control LQR to reduce the load from structure outside,
earthquake, specifically. The idea here is put the Active Tuned Mass Damper (ATMD) as an actuator at the top of the building by giving
additional mass which composed of a spring and attenuator. The working force in additional mass resemble of control force which
received from mass removal in ATMD system. Afterwards the control force be oscillation and opposite movement with the earthquake
sources direction until the earthquake forces be reduce continually hence obtain the stability of the system.
The effectiveness of this method will be confirmed by numerical simulations.

1. Introduction
In general, building structure do not only experiencing
of static load but also dynamic load. This load if happened
naturally hence one of its cause is earthquake. Because the
character is nondeterministic, so the researcher has to be
paid attention for analysis and design at structure
characteristic (1),(2),(3).
Along with this matter showed up the idea that the
building structure must be adaptive and responsive, that is
the structure able to change vibration characteristic if hit by
earthquake. But this structure not yet reached ideal stability
when hit by the load, so that needed by control design to
conduct appropriately. With the existence of this design is
expected to yield more stable building structure caused by
vibration. The principle work of adaptive structure can be by
using mechanic principle so that the influence of external
load can be reduced, for example installing mechanic device
vibration damper of dynamic load (4).
Organization of this paper is given as follows. We will
firstly explain building structure by mathematical model
and conclude as state-space representation. The remaining
sections are devoted to proposing design methods for
reducing the seismic or earthquake effect which include
linear quadratic regulator (LQR) in Section 3. The
effectiveness of that method will be confirmed by numerical
simulations. We conclude our paper in the Section 4.

2. Model of Damped Shear Building Structure

The structure of damped shear building system represent
continual building structure three floors/continue structure
which has infinite number degrees of freedom. With
selection process or correctly mathematical model can
reduce it become single degrees of freedom (SDOF) that is
structure model with single movement coordinate (3),(5),(6),(7),(8)
.

* ferryhadary@teknik.untan.ac.id

But in fact, building structure also can modeled as

damped shear building structure where do not have rotation
at horizontal section.
The three floors continue structure as shear building
structure depicted in Fig. 1.

Fig.1. Damped shear building system

Let us consider the structure system as depicted in Fig.
1. System in above having three degree of freedom, i.e. one
horizontal movements for each floor area. The relation
among stiff column and crossbeam concerning rotation
when earthquake are happened make the condition of where
crossbeam still horizontal during hit by dynamic load.
Equation of damped shear building system motion
obtainable by totalize forces at free body diagram is describe
by

m1 y1 (t ) c1 y 1 (t ) k1 y1 (t ) c 2 y 2 (t ) y 1 (t ) k 2 y 2Forces
(t ) yat1 (building
t ) f 1 (structure
t)
(1)

m1 y1 (t ) c1 y 1 (t ) k1 y1 (t ) c2 y 2 (t ) y 1 (t ) k 2

c3 y 3 (t ) y 2 (t ) k3 y3 (t ) y2 (t ) f 2 (t )

represent totaling from each

floor so that working force can be written down.
f(t)total
=
f1(t)+
f2(t)+
f3(t)
y(6)
2 (t ) y1 (t )

2
6
4
f 1 (t )
f 2 (t ) f 3 (t )
9
18
9

(2)

by assumption f (t ) Total

(3)

6
6
2
2
ys (t ) ,
f1 (t ) m1 ys (t ) ,
f 2 (t ) m2
9
9
18
18
4
4
f 3 (t ) m3 ys (t ) and f 4 (t ) m4 ys (t ) ,
9
9

m3y3 (t ) c3 y 3 (t ) y 2 (t ) k 3 y 3 (t ) y 2 (t ) f 3 (t )hence force in case of for 1st, 2nd, 3rd and 4th floor are

As we known that damped shear building representing

the implementation of earthquake proof building structure
can be an equivalent constructed by mathematical model of
mechanic system in order of paralel style as according to
every floor sequence. This is showed by Fig. 2.

respectively.

By using assumption in above that basically is f(t)gempaf(t)kendali=0 we will get 2nd order differential equation from
the system that is

c c2
k k2
c
k
y1 (t ) 1
y 1 (t ) 2 y 2 (t ) 1
y 1 (t ) 2 y 2 (t
m1
m1
m1
m1
(7)

y2 (t )

Fig.2. Equivalent constructed of damped shear building

system with ATMD
The control force working at damped shear building is
by placing active tuned mass damper (ATMD) at the top of
building. Movement of ATMD basically represents a
function of variable friction at building structure (9).
Working force at additional mass in ATMD represent
control force which obtained from the mass movement
oscillation at ATMD system and have opposite direction
with the origin of earthquake force. With the result
earthquake forces that work at building structure
continuously reduced till resulting ideal stability at
structure.
Like at Eqs. (1) - (3), analysis for systems can be showed
as in free body diagram so that enabled describing by
mathematics equation (10). At this diagram consist of three
mass that represented each floor of damped shear building
system and one additional mass of ATMD. So that we
obtained same relation at 1st and 2nd floor whereas at 3rd and
4th floor, that is:

k 2 k3
k
6
y 2 (t ) 3 y 3 (t ) y s (t )
m2
18
m2

(8)

y3 (t )

(9)

(4)

m 4 y 3 (t ) y 4 (t ) c 4 y 4 (t ) k 4 y 4 (t ) f 4 (t )

(5)
The movement equation of this system is also influenced
by earthquake excitation y s (t ) which acceleration
represented of earthquake force in land as shown in Fig. 3.

c3
c
c
k
y 2 (t ) 3 y 3 (t ) 4 y 4 (t ) 3 y2 (t )
m3
m3
m3
m3

k3
k
m 4
y 3 (t ) 4 y 4 (t ) 1 4 y s (t )
m3
m3
m3 9

y3 (t ) y 4 (t ) c4

m4

y 4 (t )

k4
y 4 (t ) y s (t )
m4

(10)
Then damped shear building system with ATMD can be
represented by the compact notation of the state and output
equation as

x (t ) Ax (t ) Bu (t )
y (t ) Cx (t )
(11)

m3y3 (t ) c3 y 3 (t ) y 2 (t ) k3 y3 (t ) y2 (t ) c4 y 4 (t )
k 4 y 4 (t ) f 3 (t ) f 4 (t )

c c3
c2
c
k
y 2 (t ) 3 y 3 (t ) 2 y1 (t )
y 1 (t ) 2
m2
m2
m2
m2

where

0
k1 k2

m1
0
k2
m2
0

1
c1 c2 k2

m1
0
c2
m2
0

1
0
C
0

0
0
0
0

0
1
0
0

0
k 2 k3

m2
0
k3
m3
0
0

0
0
1
0

The optimal control is sought to minimize the quadratic

0 performance
0 criterion
0 so0 that we0 have
to feed back all
c2variable in the control system. In this case assume that all
0
0 Then0 a performance
0 index as Eq. (12)
variable measurable.
m1can be calculated or measured and used to evaluate the
systems performance.
1
0
0
0
0
c2 cJ3 xk3 (t )Qx
c2(t ) U (t ) RU ( t )dt

0
0
m2(12) m2
m2

0
0
1
0
0
law
c3 The control
k
c to minimize
k
cthe index J is derived as
u(t)=-Kx(t)
3 where
3 K is 4derived 4by the solution of the
equation
m3followingmRiccati
m
m3
m3
3
3

0 K R 01 B T P 0
0
1
k
c
0 (13) 0
0 4 4
the solution of the
m4
mfrom
4
The nn matrix P is determined

equation

18
0

m4 4
1
m3 9

0
0
0
0

AT P PA PBR 1 B T P Q 0
(14)
We can see from the simulation results in Figs. 3 and 4
that by using the application of optimal control we can
reduce the effect of dynamic load caused by earthquake at
the system. We can see in more detail the response of each
floor after using optimal control as shown in Fig. 4. This
result well defined that the function of ATMD as an actuator
and the optimal control as a controller can give useful
insight into designing stabilizing controller of reducing the
dynamic load effect.

4. Conclusions
0
0
0
0

0
0
0
1

0
0
.
0

3. Optimal Control Design for Damped Shear Building

System
In this section we will consider the design of an optimal
control system that is described by a state variable
formulation. We will consider the measurement of the state
variable and their use in developing a control signal u(t) so
that the performance of the system is optimized. Note that,
the main idea is to use the advantage of the quadratic
optimal control scheme so as the system designed will be
more stable.
Optimal control design which used in this paper is linear
quadratic regulator (LQR). With this method can give result
of feedback control linear time-variant. The linear system,
quadratic cost function (LQ) optimal control problem has
received special attention in the literature and in
applications. This is because it can be solved analytically,
and the resulting optimal controller is expressed in easy-toimplement state feedback form (5),(6),(7),(8),(11).

In this paper, we have studied the application of optimal

control system as a controller and active tuned mass damper
(ATMD) as an actuator to the damped shear building
system. By this method the results give useful insight into
reducing the dynamic load effect at building structure.
Analysis to evaluate the reduction ratio for each floor is
left as a future work. The extension of this research with
other methods, theory for selected of weighting factor, is
also investigated to give the good results.

EARTHQUAKE SIGNAL DATA

0.4

0.3

ACCELERATION (G)

0.2

0.1

- 0.1

- 0.2

- 0.3
0

10

15

TIME (SEC)

Fig.3. Earthquake excitation signal

Earthquake Signal Data
(Before Controllable)

Acceleration

0.4
0.2
0
- 0.2
- 0.4
0

10

x 10

1st Floor
2nd Floor
3th Floor
ATMD

Acceleration

15

Response for Each Floor

(After Controllable)

-6

0
-1
-2
-3
0

10

15

Time (sec)

Fig.4. Response after controllable

Acknowledgment
This research is supported by Technological and
Professional Skills Development Sector Project (TPSDP)
ADB Loan No. 1792-INO University of Tanjungpura and
PT. Aplikanusa Lintasarta, Pontianak.

References

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