One of the major challenges in the real-time control of structures is the uncertainty in identifying the mechanical properties of the system, including mass, stiffness, and damping. However, the presence of uncertainty in time-varying systems (under severe environmental factors, the dynamic characteristics of the system change due to damage) is more noticeable. In this article, to deal with the problem of parametric uncertainties in seismic motion control of structures, an adaptive optimal controller is applied. The design procedure of the controller is straightforward, and there is no need to have the values of the structural parameters. In the proposed scheme, only the states of the system are measured, and it is not necessary to use the ground acceleration data which are difficult to be measured in real time. It is shown that the performance of the designed controller converges to the well-known linear quadratic regulator. Simulation results reveal that considerable reductions of the dynamic responses during the earthquakes are achieved using the utilized adaptive optimal controller, and also it is robust against any variation in the structural parameters due to the damages.

实时控制结构的主要挑战之一是不确定系统的机械性能，包括质量，刚度和阻尼。但是，时变系统中存在不确定性（在严重的环境因素下，系统的动态特性由于损坏而发生变化）更加明显。本文针对结构地震运动控制中的参数不确定性问题，采用了自适应最优控制器。控制器的设计过程简单明了，不需要结构参数的值。在所提出的方案中，仅测量系统的状态，并且不需要使用难以实时测量的地面加速度数据。结果表明，所设计控制器的性能收敛于众所周知的线性二次调节器。仿真结果表明，利用所采用的自适应最优控制器可以显着降低地震过程中的动力响应，并且对于由于损伤而导致的结构参数的任何变化均具有较强的鲁棒性。