622

Analysis of Nonclassically Damped Linear Systems

Chap. 14

represents the deformation response of the nth-mode SDF system to ground acceleration
u g (t), introduced in Section 13.1.3. This becomes apparent by substituting Eq. (14.3.7) for
h n (t) and comparing the resulting equation with Eq. (6.12.1). Note that Eq. (14.4.2) is
identical to Eq. (13.1.15).

PART B: NONCLASSICALLY DAMPED SYSTEMS

Now that we have reformulated the analysis of classically damped systems, we return to
the original problem of analyzing the response of nonclassically damped systems, defined
in Section 10.9.

14.5 NATURAL VIBRATION FREQUENCIES AND MODES

Free vibration of an MDF system is governed by Eq. (10.9.1), which is repeated for convenience:
mu + cu + ku = 0

(14.5.1)

This equation admits a solution of the form

u(t) = et

(14.5.2)

Substituting this form of u(t) in Eq. (14.5.1) leads to the quadratic eigenvalue problem
(also known as the complex eigenvalue problem):
(2 m + c + k) = 0

(14.5.3)

Although Eq. (14.5.3) can be solved directly for an eigenvalue and the associated eigenvector , these may be determined more conveniently by first reducing the N second-order
differential equations (14.1) to a system of 2N first-order differential equations
(Appendix 14.2). The corresponding eigenvalue problem of order 2N [Eq. (A14.2.8)]
can be solved by well-established procedures and computer algorithms. The 2N roots
of are either real valued or they occur in complex-conjugate pairs (Appendix A14.2).
Response analysis of systems with all complex-valued roots is developed in Sections 14.5
to 14.9; whereas systems with some real-valued roots are deferred until Section 14.10.
Provided the amount of damping is not very highi.e., small enough to ensure oscillatory free vibration in all modesthe eigenvalues occur in complex-conjugate pairs
with negative or zero real parts, just as in the case of classically damped systems [see
Eq. (14.1.3)]. For an N-DOF system, there are N pairs of eigenvalues, and to each such
pair corresponds a complex-conjugate pair of eigenvectors.
A complex-conjugate pair of eigenvalues, denoted by n and n , may be expressed
in the same form as Eq. (14.1.3) for classically damped systems:
n , n = n n in D

(14.5.4)

Sec. 14.6

Orthogonality of Modes

where

623


n D = n 1 n2

(14.5.5)

Note that n and n are related to the eigenvalues as follows:

n = |n |

n =

Re(n )
|n |

(14.5.6)

The associated pair of complex-valued eigenvectors is separated into its real and imaginary
parts:
n , n = n in

(14.5.7)

in which n and n are real-valued vectors of N elements each. The values of n are
numbered in ascending order and the values of n and n are numbered in the order corresponding to n .
Considering that Eqs. (14.5.4) and (14.5.5) for nonclassically damped systems are
identical to the corresponding Eqs. (14.1.4) and (14.1.5) for classically damped systems,
n will be referred to as the nth pseudo-undamped natural circular frequency of the system,
n D as the corresponding frequency with damping, and n as the modal damping ratio. The
prefix pseudo has been included to denote that for nonclassically damped systems, n
is a function of the amount of system damping and, hence, differs from the corresponding
frequency of the associated undamped system; where confusion may arise, the latter frequency will be denoted by no . Because n for nonclassically damped systems is akin to n
for classically damped systems, n will be referred to as the nth natural mode of vibration.
Studies on the effect of light damping on the natural frequencies of MDF systems
have demonstrated that (1) the natural frequency of the highest mode of a damped system
is always less than or equal to the corresponding undamped frequency, no matter whether
damping is classical or nonclassical; and (2) the damped natural frequency of the lowest
mode may be higher than the corresponding undamped frequency, depending on the form
of the damping matrix and on separation of 1 and 2 .
For the special case of classically damped systems, as noted in Section 14.1, the
eigenvalues also occur in complex-conjugate pairs; the modulus n of each pair of eigenvalues is equal to the natural frequency of the associated undamped system no ; and the
damped natural frequencies n D are always lower than the corresponding undamped frequencies no . However, the eigenvectors are real valued and equal to those of the associated
undamped system, i.e., n = 0, n = n = n .
14.6 ORTHOGONALITY OF MODES
A pair of eigenvectors corresponding to distinct eigenvalues satisfies the following orthogonality conditions (see Appendix 14.3 for proof):
(n + r ) nT mr + nT c r = 0

(14.6.1)

nT kr n r nT m r = 0

(14.6.2)

624

Analysis of Nonclassically Damped Linear Systems

Chap. 14

These orthogonality relations are also valid for a complex-conjugate pair of eigenvectors
because their eigenvalues are distinct.
For classically damped systems, it can be shown that Eqs. (14.6.1) and (14.6.2)
reduce to the familiar orthogonality relations of Eq. (10.4.1) (see Appendix 14.3).
Example 14.1
Determine the natural vibration frequencies and
modes and modal damping ratios for the twostory shear frame of Fig. E10.12.1a with c = km/200, a classically damped system. Use the
theory for nonclassically damped systems, developed in Section 14.5, to solve the problem.
Solution

The mass and stiffness matrices of the system, determined in Example 9.1, are
m=

2m
m

c=

6c
2c

2c
2c

k=

k
k

3k
k

(a)

The damping matrix satisfies Eq. (10.9.3), implying that the system is classically damped. The
eigenvalue problem to be solved is defined by Eq. (A14.2.8), repeated here for convenience:
a + b = 0

(b)

where the matrices a and b, defined in Eq. (A14.2.5), for this system are

0
0 m
0
=
a=
m c
2m
0

0
0
0
m

2m
m 0
0
b=
=
0 k
0
0

2m
0
6c
2c
0
m
0
0

0
0
3k
k

0
m
2c
2c

(c)

0
0
k
k

(d)

The eigenvalue problem can be solved numerically using an appropriate algorithm, e.g., the
Matlab function eig(b, a), resulting in the eigenvalues

1 , 1 =


2 , 2 =

k
(0.0354 0.7062i)
m

(e.1)

k
(0.1414 1.4071i)
m

(e.2)

From these eigenvalues, n and n can be determined using Eq. (14.5.6):

1 = |1 | = 0.7071

1 =

k
m

Re(1 )
= 0.05
|1 |

2 = |2 | = 1.4142

2 =

k
m

Re(2 )
= 0.10
|2 |

(f)

(g)

Observe that n in Eq. (f) are the same as the natural frequencies of the associated undamped
system, determined by solving the real eigenvalue problem in Problem 10.4, and n in Eq. (g)
are identical to the values determined using Eq. (10.10.3).

Sec. 14.6

Orthogonality of Modes

625

From the eigenvalues of Eq. (e), the damped frequencies are determined from their
definition in Eq. (14.5.5):


1D = Im(1 ) = 0.7062

k
m

2D = Im(2 ) = 1.4071

k
m

(h)

Note that the damped frequencies n D [Eq. (h)] are lower than the undamped frequencies n [Eq. (f)]. Solution of the eigenvalue problem [Eq. (b)] also provides the eigenvectors:
1 =

1

2 =

1
1

(i)

Note that the eigenvectors are real valued, as expected for a classically damped system, and
identical to the natural modes of the associated undamped system determined in Example 10.4.
Example 14.2
Determine the natural frequencies and modes of vibration, and the modal damping ratios for
the system shown in Fig. E14.2a,
a two-story frame idealized as a shear building with a damper
only in the first story with c = km. Show that the eigenvectors satisfy the orthogonality
properties.

Re(1 )
m
h

Re(2 )

u2

Im(2 )

1. 0

k
2m

Im(1 )

1.0

2k

u1

0.4949

0.1224

0.8699

0.4531

(a)

(b)

Figure E14.2 (a) Nonclassically damped system; (b) real and imaginary parts of eigenvectors 1
and 2 .

Solution The mass, damping, and stiffness matrices of the system are
m=

2m
m

c=

c
0

k=

3k
k

k
k


(a)

The damping matrix does not satisfy Eq. (10.9.3), implying that the system is nonclassically
damped. The eigenvalue problem to be solved is defined by Eq. (A14.2.8), repeated here for
convenience:
a + b = 0

(b)

626

Analysis of Nonclassically Damped Linear Systems

Chap. 14

where the matrices a and b, defined in Eq. (A14.2.5), for this system are

0
0 m
0
=
a=
m c
2m
0

2m
m 0
0
b=
=
0 k
0
0

0
0
0
m

2m
0
c
0

0
m
0
0

0
0
3k
k

0
m
0
0

(c)

0
0
k
k

(d)

The eigenvalue problem can be solved numerically using an appropriate algorithm, e.g., the
Matlab function eig (b, a), resulting in the eigenvalues


1 , 1 =


2 , 2 =

k
(0.0855 0.7159i)
m

(e.1)

k
(0.1645 1.3773i)
m

(e.2)

From these eigenvalues, n and n can be determined using Eq. (14.5.6):

k
m

1 = |1 | = 0.7209

1 =

Re(1 )
= 0.1186
|1 |


2 = |2 | = 1.3871

2 =

k
m

(f)

Re(2 )
= 0.1186
|2 |

(g)

Observe that the pseudo-undamped frequencies n in Eq. (f) are slightly different than the
frequencies of the associated undamped system no given by Eq. (f) in Example 14.1.
From the eigenvalues of Eq. (e), the corresponding frequencies n D of the damped
system are determined from their definition in Eq. (14.5.5):


1D = Im (1 ) = 0.7159

k
m


2D = Im(2 ) = 1.3773

k
m

(h)

Note that the damped natural frequency 1D of the lowest (or first) mode is higher than the
undamped frequency 1o ; however, the damped frequency 2D of the highest (or second) mode
is lower than the undamped frequency 2o .
Solution of the eigenvalue problem [Eq. (b)] also provides the 4 1 eigenvectors, but
only the third and fourth components [see Eq. (A14.2.7)] are relevant and shown below:
1 =

0.4949 0.1224i
1

2 =

0.8699 0.4531i
1


(i)

Note that the eigenvectors are now complex valued, as expected for a nonclassically damped
system. Their real and imaginary parts are plotted in Fig. E14.2b.

Sec. 14.7

Free Vibration

627

To verify that the eigenvectors n are orthogonal, we compute the individual terms in
the left side of Eqs. (14.6.1) and (14.6.2):
1T m2 =
1T k2 =
1T c2 =




0.4949 0.1224i
1

0.4949 0.1224i
1

0.4949 0.1224i
1

T 

2m
m

T 
T 

k
k

3k
k

c
0

0.8699 0.4531i
1

0.8699 0.4531i
1

0.8699 0.4531i
1

= m (0.0281 0.2355i)
= k (0.0828 + 0.2223i)

km (0.4859 0.1178i)

Substituting individual terms in the left side of Eqs. (14.6.1) and (14.6.2) gives

(1 + 2 ) 1T m2 + 1T c2 = km (0.2500 + 2.0931i) (0.0281 0.2355i)

+ km (0.4859 0.1178i) = 0
1T k2 1 2 1T m2 = k (0.0828 + 0.2223i)
+ k(0.9719 + 0.2355i) (0.0281 0.2355i) = 0
This verifies that the eigenvectors computed for the system are orthogonal.

14.7 FREE VIBRATION

The modal solution associated with the complex-conjugate pair of eigenvalues n and n
and their eigenvectors n and n (derived in Appendix A14.4) is given by

un (t) = Bn n en t + B n n en t

(14.7.1)

which may be viewed as a generalization of Eq. (14.2.1) for nonclassically damped systems. Since the second term on the right-hand side of Eq. (14.7.1) is the complex conjugate
of the first, the two imaginary parts cancel each other, resulting in


(14.7.2)
un (t) = 2Re Bn n en t
The response of the system to arbitrary initial excitation is given by the superposition of
the modal solutions [Eq. (14.7.2)]:
N



u(t) = 2
Re Bn n en t

(14.7.3)

n=1

By invoking the orthogonality properties of modes [Eqs. (14.6.1) and (14.6.2)], the complexvalued constants are determined (see Appendix 14.4):
Bn =

n nT mu(0) + nT cu(0) + nT mu(0)

T
T
2n n mn + n cn

(14.7.4)

Following the derivation of the alternative form of the free vibration solution for
classically damped systems (Section 14.2), we first evaluate the product:
2Bn n = n + in

(14.7.5)

628

Analysis of Nonclassically Damped Linear Systems

Chap. 14

in which n and n are real-valued vectors, then substitute Eq. (14.7.5) into Eq. (14.7.2),
and finally relate the exponential functions to trigonometric functions, leading to
un (t) = en n t [n cos n D t n sin n D t]

(14.7.6)

which is identical to Eq. (14.2.8) for classically damped systems, but the vectors n and
n will no longer be defined by Eq. (14.2.9). Superposition of the modal solutions, as
expressed in Eq. (14.7.3), provides an alternative form for the free vibration response:
u(t) =

N


en n t [n cos n D t n sin n D t]

(14.7.7)

n=1

For classically damped systems, Eq. (14.7.4) reduces to Eq. (14.2.4), n and n
are given by Eqs. (14.2.9) (see Appendix 14.4), and Eq. (14.7.7) becomes equivalent to
Eq. (14.2.10).
Example 14.3
Determine
the free vibration response of the two-story shear frame of Fig. E10.12.1a with

c = km/200, a classically damped system, due to initial displacements u(0) =  12 2 T .

Use the theory for nonclassically damped systems, developed in Section 14.7, to solve the
problem.
Solution

The initial displacement and velocity vectors are

u(0) =

12
2

u(0)
=

 
0
0

(a)

Substituting them in Eq. (14.7.4) together with m, c, n , and n determined in Example 14.1
gives
B1 =

B2 =

1 1T mu(0) + 1T cu(0) + 1T mu(0)

21 1T m1 + 1T c1

2 2T mu(0) + 2T cu(0) + 2T mu(0)

22 2T m2 + 2T c2

= 0.5000 0.0250i

(b.1)

= 0.5000 0.0503i

(b.2)

Using the Bn in Eq. (b) and n from Example 14.1, n and n are determined from Eq. (14.7.5)
as follows:
1 = Re(2B1 1 ) =
1 = Im(2B1 1 ) =

0.5000
1.0000

0.0250
0.0501

2 = Re(2B2 2 ) =

2 = Im(2B2 2 ) =

1.0000
1.0000

0.1005
0.1005

(c.1)


(c.2)

Substituting the n and n from Eq. (c) into Eq. (14.7.7) gives the free-vibration response:





0.5000
0.0250
u(t) = e0.05 1 t
cos 1D t +
sin 1D t
0.0501
1.0000 



1.0000
0.1005
0.1

t
2
+e
cos 2D t +
sin 2D t
(d)
1.0000
0.1005
Observe that this solution is identical to the result obtained by the classical method in Example 10.13.

Sec. 14.7

Free Vibration

629

Example 14.4
Determine the free vibration response of the two-story shear frame of Fig. E14.2a with c =

km due to initial displacements u(0) =  12 2 T .

Solution

The initial displacement and velocity

vectors

 are

12
0

u(0) =
u(0)
=
(a)
2
0
Substituting them in Eq. (14.7.4) together with m, c, n , and n determined in Example 14.2
gives

1 1T mu(0) + 1T cu(0) + 1T mu(0)

= 0.5101 + 0.3137i
(b.1)
B1 =
T
T
21 1 m1 + 1 c1
B2 =

2 2T mu(0) + 2T cu(0) + 2T mu(0)

22 2T m2 + 2T c2

= 0.4899 0.2532i

(b.2)

Using the Bn in Eq. (b) and n from Example 14.2, n and n are determined from Eq. (14.7.5)
as follows:
1 = Re (2B1 1 ) =
1 = Im(2B1 1 ) =




0.5817
1.0203

0.1856
0.6274




2 = Re(2B2 2 ) =
2 = Im (2B2 2 ) =

1.0817
0.9797
0.0034
0.5065


(c.1)


(c.2)

Substituting the n and n from Eq. (c) into Eq. (14.7.7) gives the free-vibration response:





0.5817
0.1856
cos 1D t
sin 1D t
u(t) = e0.1186 1 t
1.0203
0.6274





1.0817
0.0034
+ e0.1186 2 t
cos 2D t +
sin 2D t
(d)
0.9797
0.5065
Example 14.5
Determine
the free vibration responses of the two-story shear frame of Fig. E14.2a with

c = km due to two sets of initial displacements: (1) u(0) = 1 and (2) u(0) = 2 , where

T
n is the nth natural vibration mode of the associated undamped system; 1 = 12 1 and
2 = 1 1T .
Solution Part 1 Substituting the first u(0) in Eq. (14.7.4) together with m, c, n , and n
determined in Example 14.2 gives
B1 =
B2 =

1 1T mu(0) + 1T cu(0) + 1T mu(0)

21 1T m1 + 1T c1

2 2T mu(0) + 2T cu(0) + 2T mu(0)

22 2T m2 + 2T c2

= 0.5103 0.0200i

(a.1)

= 0.0103 0.0200i

(a.2)

Using the Bn in Eq. (a) and n from Example 14.2, n and n are determined from Eq. (14.7.5)
as follows:




0.5002
0.0002
2 = Re(2B2 2 ) =
(b.1)
1 = Re(2B1 1 ) =
1.0207
0.0207
1 = Im(2B1 1 ) =

0.1448
0.0401

2 = Im(2B2 2 ) =

0.0442
0.0401

(b.2)

630

Analysis of Nonclassically Damped Linear Systems

Chap. 14

Substituting the n and n from Eq. (b) into Eq. (14.7.7) gives the free-vibration response:





0.5002
0.1448
u(t) = e0.1186 1 t
cos 1D t +
sin 1D t
1.0207
0.0401





0.0002
0.0442
0.1186

t
2
+e
cos 2D t
sin 2D t
(c)
0.0207
0.0401
Part 2 Proceeding as in Part 1, the free vibration response due to the second u(0) can
be determined:





0.0815
0.3304
cos 1D t
sin 1D t
u(t) = e0.1186 1 t
0.0004 
0.6675




1.0815
0.0476
0.1186

t
2
+e
cos 2D t +
sin 2D t
(d)
1.0004
0.4664
Observations The displacements u(t) are expressed as a linear combination of n ,
the natural vibration modes of the associated undamped system:
u(t) =

2


n qn (t)

(e)

n=1

where the modal coordinates are given by

qn (t) =

nT mu(t)
nT mn

(f)

which is a generalization of Eq. (10.7.2). Substituting the known n and Eq. (c) for u(t) in
Eq. (f) leads to
q1 (t) = e0.1186 1 t (1.0139 cos 1D t + 0.1232 sin 1D t)
+ e0.1186 2 t (0.0068 cos 2D t 0.0832 sin 2D t)

(g)

q2 (t) = e0.1186 1 t (0.0139 cos 1D t 0.0028 sin 1D t)

+ e0.1186 2 t (0.0068 cos 2D t + 0.0428 sin 2D t)

(h)

These are the qn (t) associated with Eq. (c), the free vibration response due to the first set of
initial displacements.
Similarly, substituting the known n and Eq. (d) for u(t), Eq. (f) leads to
q1 (t) = e0.1186 1 t (0.0541 cos 1D t 0.6652 sin 1D t)
+ e0.1186 2 t (0.0545 cos 2D t 0.0023 sin 2D t)

(j)

q2 (t) = e0.1186 1 t (0.0541 cos 1D t + 0.3427 sin 1D t)

+ e0.1186 2 t (1.0545 cos 2D t + 0.1237 sin 2D t)

(k)

These are the qn (t) associated with Eq. (d), the free vibration response to the second set of
initial displacements.
These results, presented in Figs. E14.5.1 and E14.5.2, are for a system disturbed from
its equilibrium position by imposing initial displacements that are proportional to a natural
vibration mode n of the associated undamped system. The solutions for qn (t) are presented
in part (c) of these figures; the floor displacements in part (d); and the deflected shapes at selected time instantsa, b, c, d, and ein part (b). These results permit three observations that
contrast with what we observed earlier for undamped systems (Figs. 10.1.2 and 10.1.3) and for
classically damped systems (Figs. E10.12.1 and E10.12.2): First, q2 (t) = 0 in Fig. E14.5.1c
and q1 (t) = 0 in Fig. E14.5.2c. Second, the initial deflected shape is not maintained in free
vibration; see Figs. E14.5.1b and E14.5.2b. Third, all floors (or DOFs) of the system do not

Sec. 14.7

Free Vibration

631

vibrate in the same phase; they do not pass through zero, maximum, or minimum positions at
the same instant of time; see Fig. E14.5.2d.

(c)
1
1

q ,q

q1

q2

1
ab cd e
1
m

ed

u2

ba
21

u2 0
1
1

k
2m
2k

11

u1

0
1

(a)

2T

(b)

3T

(d)

Figure E14.5.1 Free vibration of a nonclassically damped system due to initial displacement in the
first natural mode of the undamped system: (a) two-story frame; (b) deflected shapes at time instants
a, b, c, d, and e; (c) modal coordinates qn (t); (d) displacement history.

(c)
1
2
1

q ,q

q1

q2

0
1
b d
a c e

u2

e d

1
ba
22 u2 0
1
1

k
2m
2k

u1 12

0
1

c
(a)

0
(b)

3T

5T

2T
(d)

Figure E14.5.2 Free vibration of a nonclassically damped system due to initial displacement in
the second natural mode of the undamped system: (a) two-story frame; (b) deflected shapes at time
instants a, b, c, d, and e; (c) modal coordinates qn (t); (d) displacement history.

3T

632

Analysis of Nonclassically Damped Linear Systems

Chap. 14

14.8 UNIT IMPULSE RESPONSE

As first mentioned in Section 14.3, a unit impulse ground acceleration u g (t) = (t) imparts

to an MDF system the initial velocities u(0)

= , but no initial displacements, i.e.,
u(0) = 0. Substituting these initial conditions into Eq. (14.7.4) provides the complexvalued constant
Tn m
2n nT mn + nT cn

Bng =

(14.8.1)

As before, the superscript g has been added inBn to emphasize that these constants are
associated with ground acceleration. Substituting Eq. (14.8.1) in the general solution for
free vibration, Eq. (14.7.3) leads to the unit impulse response.
To express this result in a form similar to Eq. (14.7.6), we first express the product
g
2Bn n as in Eq. (14.7.5):
2Bng n = ng + ing

(14.8.2)

Thus, the response is given by Eq. (14.7.7) with an obvious change of notation:
h(t) u(t) =

N




en n t ng cos n D t ng sin n D t

(14.8.3)

n=1

where h(t) denotes the vector of unit impulse response functions for displacements of the
system. Note that Eqs. (14.8.2) and (14.8.3) have the same form as Eqs. (14.3.3) and
g
g
(14.3.5) for classically damped systems, but the vectors n and n are no longer given by
Eq. (14.3.4).
We prefer to express Eq. (14.8.3) in terms of the unit impulse response function h n (t)
for deformation of the nth-mode SDF system, just as we did in Eq. (14.3.6) for classically
damped systems. Recall that
h n (t) =

1 n n t
e
sin n D t
n D

(14.8.4)

and its first derivative is given by

h n (t) = en n t cos n D t n n h n (t)

(14.8.5)

which can be rewritten as

en n t cos n D t = h n (t) + n n h n (t)
g

(14.8.6)

The trigonometric functions multiplying the vectors n and n in Eq. (14.8.3) are now replaced by the corresponding expressions obtained from Eqs. (14.8.4) and (14.8.6) in terms
of h n (t) and h n (t) to obtain the vector of unit impulse response functions for displacements
u(t) of the system:
N

 g

n n h n (t) + ng h n (t)
h(t) =
n=1

(14.8.7)

Sec. 14.8

Unit Impulse Response

633

in which
ng = n ng
g
n

1 n2 ng

(14.8.8)

g
n

and
are known from Eqs. (14.8.2) and (14.8.1).
where
For classically damped systems, Eq. (14.8.7) specializes to Eq. (14.3.6). This can
g
be verified by substituting Eq. (14.3.4) in Eq. (14.8.8) to obtain n = (n /n )n and
g
substituting it together with n = 0 in Eq. (14.8.7).
g
g
g
g
Properties of n and n . The vectors n and n that appear in Eq. (14.8.3) satisfy
the following relations:
N


N


ng = 0

n=1



n ng 2n ng =

(14.8.9)

n=1

These equations can be derived by recalling that Eq. (14.8.3) must satisfy the initial con
ditions associated with unit impulse ground acceleration: u(0) = 0 and u(0)
= .
Specializing Eq. (14.8.3) for t = 0 and imposing the first initial condition leads to Eq.

(14.8.9a). Similarly, differentiating Eq. (14.8.3) to obtain an equation for u(t),

specializing it for t = 0, and imposing the second initial condition leads to Eq. (14.8.9b); see
Appendix A14.5.
g
For classically damped systems, n = 0 for all modes [Eq. (14.3.4a)], implying
g
that Eq. (14.8.9a) is satisfied. Furthermore, for such systems n = (n /n ) n , and
Eq. (14.8.9b) reduces to
N


n n =

(14.8.10)

n=1

This is the modal expansion of the influence vector , which first appeared in Section 13.1.3.
Example 14.6

Determine the response of the two-story shear frame of Fig. E10.12.1a with c = km/200,
a classically damped system, due to unit impulse ground acceleration, u g (t) = (t). Use the
theory for nonclassically damped systems developed in Section 14.8 to solve the problem.
Solution

Bn are determined by substituting m, c, and n from Example 14.1 in Eq. (14.8.1):

g
B2

21 1T m1 + 1T c1

g
Im(2B1 1 )

0.9440
1.8880

 
0
0

 m
k

m
i
k

= 0.1184

22 2T m2 + 2T c2
g
g
and n , n and n are determined

1 = Re(2B1 1 ) =
g
1

= 0.9440

2T m

Using the Bn in Eq. (a)

1T m

B1 =

m
i
k

(a.2)

from Eq. (14.8.2) as follows:

g

2 = Re(2B2 2 ) =
g
2

(a.1)

g
Im(2B2 2 )

 
0
0

0.2369
0.2369

(b.1)

 m
k

(b.2)

634

Analysis of Nonclassically Damped Linear Systems

g

Chap. 14

Substituting the n and n from Eq. (b) into Eq. (14.8.3) gives the desired response:

u(t) =




m  1 1 t  0.9440 
0.2369
e
sin 1D t + e2 2 t
sin 2D t
1.8880
0.2369
k

(c)

These solutions for u j (t) are plotted in Fig. E14.6.

The response can also be expressed in terms of the unit impulse response functions
h n (t). For this purpose Eq. (14.8.8) is used to obtain
g
1

0.9428
1.8856

 m

g
2

which are substituted in Eq. (14.8.7) to obtain

u(t) =

0.2357
0.2357

 m

(d)

0.6667
0.3333
h (t) +
h (t)
1.3333 1
0.3333 2

(e)

where h n (t) is given by Eq. (14.8.4).

g
g
The vectors n and n satisfy Eq. (14.8.9):
g

 
0
0

1 + 2 =
N


n n 2n n = 1

 
m
k

n=1

0.9428
+ 2
1.8856

(f)

 
m
k

0.2357
0.2357

 

1
1

(g)

which can be verified by substituting for 1 and 2 from Eq. (f) of Example 14.2.

k/m

uj

u2(t)

0
u (t)
1

2
0

t / T1
Figure E14.6 Unit impulse response functions for a classically damped system.

Example 14.7
Determine the response of the two-story shear frame of Fig. E14.2a with c =
unit impulse ground acceleration, u g (t) = (t).
Solution

km due to

Bn are determined by substituting m, c, and n from Example 14.2 in Eq. (14.8.1):

g
B1

1T m

21 1T m1 + 1T c1
2T m
g
B2 =
T
22 2 m2 + 2T c2

m
(0.0383 + 0.9835i)
k

(a.1)

m
(0.0383 0.1504i)
k

(a.2)


=

Sec. 14.8

Unit Impulse Response

635

 m

Using the Bn in Eq. (a) and n , n and n are determined from Eq. (14.8.2) as follows:

1 = Re 2B1 1 =

0.2029
0.0766

2 = Re 2B2 2 =

0.2029
0.0766

(b.1)

 m
 g   0.2269  m
0.9828
g
= Im
=
2 = Im 2B2 2 =
(b.2)
1.9671
0.3007
k
k
g
g
Substituting the n and n from Eq. (b) into Eq. (14.8.3) gives the total response of the
system:




 m
0.2029
0.9828
cos 1D t +
sin 1D t
u(t) = e1 1 t
0.0766
1.9671
k



g
2B1 1

g
1

 m




 m
0.2029
0.2269
(c)
cos 2D t +
sin 2D t
0.0766
0.3007
k
These solutions for u j (t) are plotted in Fig. E14.7.
The response can also be expressed in terms of the unit impulse response functions
h n (t). For this purpose Eq. (14.8.8) is used to obtain
+ e2 2 t

g
1

0.9518
1.9623

 m
k

g
2

0.2493
0.3077

 m

(d)

which are substituted together with n from Eq. (b.1) in Eq. (14.8.8) to obtain
u(t) =

0.6862
0.2029
h (t)+
1.4147 1
0.0766







m
0.3459
0.2029
h 2 (t)+
h 1 (t)+
0.4268
0.0766
k

m
h 2 (t) (e)
k

where h n (t) and h n (t) are given by Eq. (14.8.4) and (14.8.5), respectively.
g
g
The vectors n and n satisfy Eq. (14.8.9):

g
1
N


g
+ 2
g

m  0.2029   0.2029   0 
+
=
0.0766
0.0766
0
k

n n 2n n = 1

n=1

(f)



m  0.9518 
0.2029
21
1.9623
0.0766
k


  
m  0.2493 
0.2029
1
22
=
0.3077
0.0766
1
k
which can be verified by substituting for 1 and 2 from Eq. (f) of Example 14.2.
+ 2

(g)

k/m

uj

u (t)
2

u1(t)

2
0

2
t / T1

Figure E14.7 Unit impulse response functions for a nonclassically damped system.

636

Analysis of Nonclassically Damped Linear Systems

Chap. 14

14.9 EARTHQUAKE RESPONSE

The displacements (relative to the ground) of the system at time t due to arbitrary ground
acceleration u g (t) are given by the convolution integral introduced in Eq. (14.4.1):

t
u g ( )h(t ) d
(14.9.1)
u(t) =
0

in which h(t) is substituted from Eq. (14.8.7) to obtain

N

 g

u(t) =
n n Dn (t) + ng D n (t)

(14.9.2)

n=1

where

Dn (t) =

u g ( ) h n (t ) d

(14.9.3)

u g ( ) h n (t ) d

(14.9.4)

and
D n (t) =

t
0

The unit impulse response functions h n (t) and h n (t) for the nth-mode SDF system
were presented in Eqs. (14.8.4) and (14.8.5), respectively.
In Eqs. (14.9.2) and (14.9.3), Dn (t) represents the deformation response of the nthmode SDF system, an SDF system with vibration propertiesnatural frequency n and
damping ratio n of the nth mode of the MDF system, to ground acceleration u g (t);
Dn (t) was introduced in Section 13.1.3 and also appeared in the response of classically
damped systems (Section 14.4). The quantity D n (t) represents the corresponding relative
velocity response of the nth-mode SDF system, introduced in Section 6.12. These SDF
system responses, Dn (t) and D n (t), are usually computed by one of the numerical methods
presented in Chapter 5, not by numerical evaluation of the convolution integrals in Eqs.
(14.9.3) and (14.9.4) because the latter approach is numerically inefficient.
The response of a nonclassically damped MDF system has been expressed as a linear
combination of N pairs of terms; the nth pair represents the nth-modal solution, associated
with the nth pair of eigenvalues n and n and their associated eigenvectors n and n .
g
The first part in the nth such pair represents a motion in the deflected shape n with its
temporal variation defined by Dn (t), whereas the second part represents a motion in the
g
deflected shape n with its temporal variation defined by D n (t). The deflected shapes
g
g
n and n are obviously functions of the natural modes of vibration of the system, as
is apparent from Eqs. (14.8.2) and (14.8.8); these are independent of u g (t) and satisfy
Eq. (14.8.9).
How does the response of nonclassically damped systems differ from that of classically damped systems? Both Dn (t) and D n (t) appear in Eq. (14.9.2), which defines
the earthquake response of nonclassically damped systems; however, only Dn (t) enters
into Eq. (14.4.2), the corresponding result for classically damped systems. For classically
damped systems, the deflected shape n associated with the contribution of the nth mode

Sec. 14.9

Earthquake Response

637

of vibration remains invariant over time [Eq. (14.4.2)], but it varies with time in the case
of nonclassically damped systems [Eq. (14.9.2)].
Once the displacements u(t) have been computed, internal forces in the structure
can be determined as described earlier for classically damped systems. Forces in viscous
dampers (that may be part of a supplemental damping system) can be determined from

the damper properties and u(t).

Differentiating Eq. (14.9.2) gives a formal equation for
these velocities that involve D n (t) and D n (t). Both of these quantities are computed in the
process of numerically evaluating Dn (t) using one of the numerical methods presented in
Chapter 5.
Example 14.8
Derive
equations for the floor displacements of the shear frame of Fig. E10.12.1a with
c = km/200, a classically damped system, subjected to ground acceleration u g (t). Use
the theory for nonclassically damped systems developed in Section 14.9 to solve the problem.
g

Solution Substituting the n and n determined in Example 14.6 into Eq. (14.9.2) provides
the equations for the floor displacements:




2/3
1/3
D1 (t) +
D2 (t)
u(t) =
4/3
1/3
Note that this result is identical to that obtained in Example 13.3 by classical methods.
Example 14.9
Derive equations for the floor displacements of the shear frame of Example 14.7 subjected to
ground acceleration u g (t).
g

Solution Substituting the n and n determined in Example 14.7 into Eq. (14.9.2) provides
the equation for the floor displacements:



 m



 m
0.6862
0.2029
0.3459
0.2029

D1 (t) +
D2 (t) +
D1 (t) +
D 2 (t)
u(t) =
1.4147
0.0766
0.4268
0.0766
k
k
(a)
where Dn (t) and D n (t) represent the deformation and relative velocity response of the nthmode SDF system; see Eqs. (14.9.3) and (14.9.4).
Example 14.10
Determine
the displacement response of the two-story shear frame of Fig. E14.2a with

c = km, m = 100 kips/g, and k = 2 2 m, due to the El Centro ground motion.

Solution The equation describing the displacement response of this system, derived in
Example 14.9, contains Dn (t) and D n (t), the deformation and relative velocity responses
of the nth-mode SDF system [Eqs. (14.9.3) and (14.9.4)]. The natural frequencies n and
damping ratios n of the two modal SDF systems are given in terms of m and k by by Eqs. (f)
and (g) of Example 14.2.
Substituting m = 0.2591 kip-sec2 /in. and k = 5.1138 kips/in. gives
1 = 3.203 rad/sec

2 = 6.163 rad/sec

(a)

T1 = 1.962 sec

T2 = 1.020 sec

(b)

1 = 0.1186

2 = 0.1186

(c)