Benchmark Problem for Response Control of Wind-Excited

Tall Buildings
Jann N. Yang1; Anil K. Agrawal2; Bijan Samali3; and Jong-Cheng Wu4
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Abstract: This paper presents an overview and problem definition of a benchmark problem for the response control of wind-excited tall
buildings. The building considered is a 76-story 306 m concrete office tower proposed for the city of Melbourne, Australia. The building
is slender with a height to width ratio of 7.3; hence, it is wind sensitive. Wind tunnel tests for such a 76-story building model have been
conducted at the University of Sydney and the results of across-wind data are used in the present benchmark problem. Either active,
semiactive, or passive control systems can be installed in the building to reduce the wind response, although only an active control sample
problem has been worked out to illustrate the control design. In the case of active control systems, either an active tuned mass damper or
an active mass driver can be installed on the top floor. In the case of passive or semiactive systems, such as viscous dampers, viscoelastic
dampers, electrorheological, or magnetorheological dampers, etc., control devices can be installed in selected story units. Control con-
straints and evaluation criteria are presented for the design problem. A simulation program based on the linear quadratic Gaussian
technique has been developed and made available for the comparison of the performance of various control strategies.
DOI: 10.1061/共ASCE兲0733-9399共2004兲130:4共437兲
CE Database subject headings: Structural control; Bench marks; Buildings, high-rise; Wind tunnels; Damping; Control systems.

Introduction ings, a series of two structural control benchmark problems have

Significant progress has been made in structural control against
natural hazards, such as earthquakes and strong winds. In particu-
lar, active control systems have been implemented in full-scale
buildings in Japan to alleviate the acceleration response under
wind excitations 关e.g., Housner and Masri 共1994兲; and Kobori
et al. 共1998兲兴. While various control methods have been explored
for applications to active response control of tall buildings and
towers subject to wind loads 关e.g., Yang and Samali 共1983兲; Sa-
mali et al. 共1985兲; Suhardjo et al. 共1992兲; Ankireddi and Yang
共1996兲; Cao et al.共1997兲; Wu and Yang 共1997a,b兲; et al. Yang
et al. 共1997兲; Wu et al. 共1998兲; Wu and Yang 共1998, 2000兲; and
Caughey 共2001兲兴, no systematic study has been conducted to
evaluate the performances of different control strategies based on
the same criteria using the same structural model under the same
wind loads. To focus the future efforts in the most effective di-
rection, two pilot benchmark problems had been proposed for
response control against earthquakes using laboratory scaled
models 共Spencer et al. 1998a兲. Based on realistic full-scale build-
1 and across-wind data are given in Samali et al. 共2004兲. This paper
Professor, Dept. of Civil and Environmental Engineering, Univ. of
California, Irvine, CA 92697. E-mail: jnyang@uci.edu
2
Associate Professor, Dept. of Civil Engineering, The City
College of the City Univ. of New York, New York, NY. E-mail:
agrawal@ccny.cuny.edu
3
Professor, Faculty of Engineering, Univ. of Technology, Sydney,
Australia. E-mail: bijan.samali@uts.edu.au
4
Associate Professor, Dept. of Civil Engineering, Tamkang Univ.,
Taipei, Taiwan. E-mail: jcwu@bridge.ce.tku.edu.tw
Note. Associate Editor: Bill F. Spencer Jr. Discussion open until Sep-
tember 1, 2004. Separate discussions must be submitted for individual
papers. To extend the closing date by one month, a written request must
be filed with the ASCE Managing Editor. The manuscript for this paper
was submitted for review and possible publication on March 5, 2003;
approved on March 5, 2003. This paper is part of the Journal of Engi-
neering Mechanics, Vol. 130, No. 4, April 1, 2004. ©ASCE, ISSN 0733-
9399/2004/4-437– 446/$18.00.
been developed for earthquake and wind excitations, respectively
共Spencer et al. 1998b; and Yang et al. 1998兲.
In the previous wind-excited benchmark problem 共Yang et al.
1998兲, the wind loads applied to the 76-story building were mod-
eled by 共1兲 stochastic processes defined by the Davenport’s cross-
power spectral density matrix 共Simiu and Scanlan 1986兲, and 共2兲
a set of sample functions of wind forces simulated from the wind
root-mean-square spectra. A stochastic analysis method was used
to compute the RMS values of floor acceleration responses and a
deterministic analysis was used to compute the peak response
quantities based on a set of simulated sample loadings. Such an
approach, based on the theoretical Davenport’s spectrum, has
been controversial, in particular among wind engineers. As a re-
sult, a decision was made during the 2nd World Conference on
Structural Control 共Kobori et al. 1998兲 to conduct wind tunnel
tests to generate wind forces for use in the present benchmark
problem. A 76-story scaled building model was constructed and
wind tunnel tests were conducted at the University of Sydney.
Detailed descriptions of wind tunnel tests to generate along-wind
presents an overview and problem definition of the subject bench-
mark problem for the response control of a wind-excited tall
building.
Wind-excited tall buildings involve excessive degrees of free-
dom so that the computational effort involved in determining the
controlled response becomes excessive. As a result, a reduced-
order model has been constructed, referred to as the evaluation
model, from which the dynamic response quantities are computed
and evaluated. To reduce the computational efforts, the selected
benchmark building is almost symmetric in both horizontal direc-
tions, and the axis of the elastic center coincides with the axis of
the mass center to avoid significant coupled lateral-torsional mo-
tions 关e.g., Samali et al. 共1985兲; and Wu and Yang 共2000兲兴. Under
wind excitations, the building undergoes both the along-wind and
across-wind motions, so that multiple active mass dampers 共con-

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J. Eng. Mech., 2004, 130(4): 437-446

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Fig. 1. Plan view of the 76-story building
trollers兲 关e.g., Housner and Masri 共1994兲兴 or a single mass damper
with multiple actuators in different directions 关e.g., Samali et al.
共1985兲; Cao et al. 共1997兲; and Wu and Yang 共1998, 2000兲兴 are
needed. For simplicity, a single mass damper with one actuator in
each direction will be considered. Further, the actuator dynamics
and controller-structure interaction have been neglected in the
sample controller design to be given later, although these effects
may be significant 关e.g., Dyke et al. 共1995兲; and Wu et al. 共1999,
2000兲兴. The main justification for making simplifications above is
that our main purpose of the benchmark study is to evaluate and
compare the performance of various control strategies. More so-
phisticated benchmark problems, which will involve more com-
putational efforts, will be considered after more experience is
gained through the present study.
Active, semiactive, and passive control systems can be in-
stalled in the building to reduce the wind response, although only
an active control sample problem has been worked out to illus-
trate the control design. For active control systems, either an ac-
tive tuned mass damper 共ATMD兲 or an active mass driver 共AMD兲
can be installed on the top floor. For semiactive or passive control
systems, such as electrorheological 共ER兲 or magnetorheological
共MR兲 dampers, viscous dampers, viscoelastic dampers, etc., con-
trol devices can be installed in any selected story units. However,
the control devices should be practically implementable. A simu-
lation program based on the linear quadratic Gaussian 共LQG兲
control algorithm has been developed and made available for the
participants for the comparison of the performance of various
control strategies 共SSTL 2000兲.
76-Story Building and Model
The building considered is a 76-story 306 m office tower pro-
posed for the city of Melbourne, Australia as shown in Figs. 1 and
2. This is a reinforced concrete building consisting of a concrete
core and concrete frame. The core was designed to resist the
majority of wind loads whereas the frame was designed to prima-
rily carry the gravitational loads and part of the wind loads. All
relevant structural analyses and design had been completed; how-
ever, it was not built due to an economic recession. The building
has a square cross section with chamfer at two corners as shown
in Fig. 1. The total mass of the building, including heavy machin-
ery in the plant rooms, is 153,000 metric tons. The total volume
438 / JOURNAL OF ENGINEERING MECHANICS © ASCE / APRIL 2004
J. Eng. Mech., 2004, 130(4): 437-446
Fig. 2. Elevation view of the building
of the building is 510,000 m3, resulting in a mass density of 300
kg per cubic meter, which is typical of concrete structures. The
building is slender with a height-to-width ratio 共aspect ratio兲 of
306.1/42⫽7.3; therefore, it is wind sensitive.
The perimeter dimension for the center reinforced concrete
core is 21 m⫻21 m. The reinforced concrete perimeter frame
consists of columns spaced 6.5 m apart, which are connected to a
900 mm deep and 400 mm wide spandrel beam on each floor.
There are 24 perimeter columns on each level with six columns
on each side of the building. The lightweight floor construction
uses steel beams with a metal deck and a 120 mm slab. The
compressive strength of concrete is 60 MPa and the modulus of
elasticity is 40 GPa. Column sizes, core wall thickness, and floor
mass vary along the height, and the building has six plant rooms.
The 76-story tall building is modeled as a vertical cantilever
beam 共Bernoulli–Euler beam兲. A finite element model is con-
structed by considering the portion of the building between two
adjacent floors as a classical beam element of uniform thickness,
leading to 76 translational and 76 rotational degrees of freedom.
Then, all the 76 rotational degrees of freedom have been removed
by the static condensation. This results in a 76 degrees of freedom
共DOF兲, representing the displacement of each floor in the lateral
direction. The first five natural frequencies are 0.16, 0.765, 1.992,
3.790, and 6.395 Hz. The first three mode shapes are shown in
Fig. 3. The 共76⫻76兲 damping matrix for the building with 76
lateral DOF is calculated by assuming 1% damping ratio for the
first five modes using Rayleigh’s approach. This model, having
共76⫻76兲 mass, damping, and stiffness matrices, is referred to as
the ‘‘76 DOF Model.’’
A tuned mass damper 共TMD兲 with an inertial mass of 500 t is
installed on the top floor. This is about 45% of the top floor mass,
which is 0.327% of the total mass of the building. The undamped
 ATMD兲 in Eq. 共1兲 is reduced to a 24 DOF system such that the
first 48 complex modes 共eigenvalues and eigenvectors兲 of the 77
DOF system are retained. The resulting reduced-order state equa-
tion is given by

ẋ⫽Ax⫹Bu⫹EW (2)

in which x⫽关x̄⬘,xថ ⬘兴⬘⫽48-dimensional reduced-order state vector;

and x̄⫽ 关 x 3 ,x 6 ,x 10 ,x 13 ,x 16 ,x 20 ,x 23 ,x 26 ,x 30 ,x 33 ,x 36 ,
x 40 ,x 43 ,x 46 ,x 50 ,x 53 ,x 56 ,x 60 ,x 63 ,x 66 ,x 70 ,x 73 ,x 76 ,x m 兴 . Also,
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A⫽共48⫻48兲 system matrix; B⫽48 location vector; and E⫽共48

Fig. 3. Mode shapes of first three modes of the building
natural frequency and damping ratio of the TMD are 0.16 Hz and
20%, respectively. A damping ratio for the TMD, higher than the
optimal damping ratio, is used to restrain a bigger stroke for the
ATMD. The building with ATMD is referred to as the ‘‘77 DOF
Model.’’ As will be described later, the designer can choose ap-
propriate natural frequency and damping ratio for the ATMD sys-
tem.
Simplified Evaluation Model
The equation of motion of the building equipped with an ATMD
on the top floor can be expressed as
Mẍᠪ⫹Cẋᠪ⫹Kxᠪ ⫹Hu⫽␩W (1)
in which xᠪ ⫽ 关 x 1 ,x 2 ,...,x 76 ,x m 兴 ⬘ ⫽displacement vector with x i
being the displacement of the ith floor and x m being the relative
displacement of the inertial mass of damper with respect to the
top floor, and a prime indicates the transpose of a vector or a
matrix. In Eq. 共1兲, M, C, and K are 共77⫻77兲 mass, damping and
stiffness matrices, u⫽scalar control force, W⫽wind excitation
vector with dimension 77, H⫽control influence vector, and
␩⫽excitation influence matrix.
The numerical computation of the controlled response quanti-
ties, including peak response, RMS response, etc., may be time-
consuming and computationally expensive for the 76 DOF and 77
DOF models. Hence the so-called state order reduction method
关e.g., Davison 共1966兲兴 has been used to derive lower order models
for the building with and without ATMD. In this method, eigen-
values and eigenvectors of the selected modes of the full-order
system are preserved in the reduced-order system. Further, se-
lected physical states of the full-order system are also preserved
in the reduced-order system 关e.g., Davison 共1966兲; and Wu et al.
共1998兲兴, which may not be possible using the inverse-modal ma-
trix method. Based on this approach, the 77 DOF model 共with
⫻77兲 matrix.
Similarly, the 76 DOF model 共building without ATMD兲 can be
reduced to a 23 DOF system by retaining the first 46 complex
modes of the original system. The resulting state equation is also
expressed by Eq. 共2兲. In this case, however, the dimensions of x,
A, B, and E are 共46⫻1兲, 共46⫻46兲, 共46⫻1兲, and 共46⫻76兲, respec-
tively, u⫽0 and x̄ is the same as that for the 24 DOF model
without x m . Matrices A, B, and E are completely different from
those for the 24 DOF system. In the system reduction above, the
wind loads acting on each of the 23 floors above are computed
from the wind loads W acting on each of the 76 floors through a
transformation. To further reduce the computational efforts, in-
stead of reducing wind loads through the model reduction method
共transformation兲 described above, the wind load vector W can be
modeled physically by lumping wind forces on adjacent floors at
the locations that correspond to the 24 DOF model 共or 23 DOF
model兲. Thus, in Eq. 共2兲, the dimension of W becomes 24 and E
is appropriately modified to a 共48⫻24兲 matrix. These simplified
models are denoted by 24 DOF with W24 and 23 DOF with W23
models, respectively. As a result of this simplification and the
model reduction, the savings in computational time is about 70–
80% in addition to a significant savings in the computer storage
space.
To verify the accuracy of different reduced-order models for
the building, numerical simulations were conducted to calculate
the temporal RMS and the peak response quantities of various
floors. The RMS response quantities for various models subject to
900 s of across-wind loads to be described later are shown in
Table 1. In Table 1, ␴ x i and ␴ ẍ i represent the RMS values of the
floor displacement x i and acceleration ẍ i , respectively, and ␴ xm
and ␴ ẍm are the RMS values of the relative displacement x m and
absolute acceleration ẍ m of the mass damper, respectively. It is
observed from Table 1 that the response quantities for 23 DOF
with W23 and 24 DOF with W24 models are quite close to those
for 76 DOF and 77 DOF models. Similar accuracy has been ob-
served for the simulation results of peak response quantities, as
well as the results due to along-wind loads.
It is mentioned that recently the Newmark–Beta method has

Table 1. Root-Mean-Square Response Quantities of the 76-Story Building Subject to Across-Wind Loads using Simplified Models
76 DOF model 77 DOF model 23 DOF model with W23 24 DOF model with W24
Floor ␴ xi ␴ ẍ i ␴ xi ␴ ẍ i ␴ xi ␴ ẍ i ␴ xi ␴ ẍ i
number 共cm兲 共cm/s2兲 共cm兲 共cm/s2兲 共cm兲 共cm/s2兲 共cm兲 共cm/s2兲
1 0.017 0.019 0.012 0.014 0.017 0.059 0.012 0.058
30 2.154 2.020 1.476 1.230 2.154 2.020 1.476 1.231
50 5.219 4.776 3.567 2.782 5.219 4.783 3.567 2.795
75 9.914 9.125 6.750 5.336 9.915 9.142 6.751 5.380
76 10.136 9.337 6.901 5.468 10.137 9.349 6.901 5.475
MD — — 12.757 13.862 — — 12.757 13.862
Note: DOF⫽degree of freedom and MD⫽mass of damper.

JOURNAL OF ENGINEERING MECHANICS © ASCE / APRIL 2004 / 439

J. Eng. Mech., 2004, 130(4): 437-446

 been modified for adoption in the control problem 共Ohtori et al.
2004兲 and it has been shown to be extremely efficient. In fact, this
method and Eq. 共1兲 have been used to compute the results for 76
DOF and 77 DOF 共without active control兲 shown in Table 1.
The controlled output vector z and the measured output vector
y of the evaluation model in Eq. 共2兲 can be expressed as
z⫽Czx⫹Dzu⫹FzW
y⫽Cyx⫹Dyu⫹FyW⫹v
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in which z⫽ 关 x 1 ,x 30 ,x 50 ,x 55 ,x 60 ,x 65 ,x 70 ,x 75 ,x 76 ,x m ,ẋ 1 ,ẋ 30 ,
ẋ 50 ,ẋ 55 ,ẋ 60 ,ẋ 65 ,ẋ 70 ,ẋ 75 ,ẋ 76 ,ẋ m ,ẍ 1 ,ẍ 30 ,ẍ 50 ,ẍ 55 ,ẍ 60 ,ẍ 65 ,ẍ 70 ,ẍ 75,
ẍ 76 ,ẍ m 兴 ⬘ ⫽30-dimensional vector of the response that can be
regulated, and y⫽ 关 ẋ 1 ,ẋ 30 ,ẋ 50 ,ẋ 55 ,ẋ 60 ,ẋ 65 ,ẋ 70 ,ẋ 75 ,ẋ 76 ,ẋ m ,
ẍ 1 ,ẍ 30 ,ẍ 50 ,ẍ 55 ,ẍ 60 ,ẍ 65 ,ẍ 70 ,ẍ 75 ,ẍ 76 ,ẍ m 兴 ⬘ ⫽20-dimensional vec-
tor of the response that can be directly measured by installing
sensors. However, the maximum number of sensors that can be
used will be specified later. In Eq. 共4兲, v⫽vector of noises; and
Cz, Dz, Fz, Cy, Dy, and Fy⫽matrices of appropriate dimensions.
In the notation above, ẋ m ⫽relative velocity of the mass damper
with respect to the top floor.
The model given in Eqs. 共2兲–共4兲 for 23 DOF with W23 is
termed as the evaluation model and it can be used to assess the
performance of candidate control strategies, i.e., the evaluation
model is considered to be the true representation of the 76-story
building in Eq. 共1兲.
Controller Design Problem
The problem of controller design is to determine a discrete-time
feedback compensator of the form
xc共 k⫹1 兲 ⫽f1 关 xc共 k 兲 ,ỹ共 k 兲 ,u 共 k 兲 ,k 兴
u 共 k 兲 ⫽ f 2 关 xc共 k 兲 ,ỹ共 k 兲 ,k 兴
where xc(k), ỹ(k), and u(k)⫽vector of the compensator, selected
measurement output vector, and the control force, respectively, at
time t⫽k⌬T with ⌬T being the sampling time for the compen-
sator. The maximum dimension of the compensator is expediently
required to be less than 12, i.e., dim关 xc(k) 兴 ⭐12.
Although the reduced-order system in Eq. 共2兲, the controlled
output vector z, and the measured output vector y in Eqs. 共3兲 and
共4兲 are provided herein, the designers are free to establish their
own reduced-order system, controlled output feedback vector, and
measured output vector using different approaches. Likewise, for
the control design model in Eqs. 共5兲 and 共6兲, the designers are free
to choose any subsets of x, z, and y provided in Eqs. 共2兲–共4兲.
Wind Excitations
Wind force data acting on the benchmark building in along-wind
and across-wind directions were determined from wind tunnel
tests. A rigid model of the 76-story benchmark building was con-
structed and tested in the boundary layer wind tunnel facility at
the Department of Civil Engineering, the University of Sydney,
Australia. The wind tunnel is of the open circuit type with a
working section of 2.4 m⫻2.0 m and a working length of 20 m.
An appropriate model of the natural wind over a suburban terrain
was established using the augmented growth method, which in-
cluded a combination of vorticity generators spanning the start of
the working section and roughness blocks laid over a 12 m fetch
length of the working section.
The model to prototype scale for the building was 1:400 and
the velocity scale was 1:3, resulting in a time scale of approxi-
440 / JOURNAL OF ENGINEERING MECHANICS © ASCE / APRIL 2004
J. Eng. Mech., 2004, 130(4): 437-446
mately 1:133. Thus, the pressure measurement system of the
model, which had a frequency response of approximately 300 Hz,
could respond accurately to pressure fluctuations with frequencies
up to 2.25 Hz on the prototype. Wind data were recorded for 27 s,
representing approximately 1 h of prototype data. The sampling
frequency was 1000 Hz. The pressure measurement system was
of the closed form. The model of the benchmark building was
(3)
divided into panels on opposite faces of the building and the
(4) pressure on each face was pneumatically averaged through a 12:1
manifold. A short length of vinyl tubing, containing two restric-
tors to reduce resonant effects, connected the manifold to a Hon-
eywell Type 163 pressure transducer. The amplitude response of
the tubing system was flat, to within 15%, up to 300 Hz, and the
phase response was close to linear over this range.
The results are initially in the form of combined pressure co-
efficients referenced to the building height. The entire pressure
records from all 32 panels were combined to give a single pres-
sure coefficient at each level. To convert these combined pressure
coefficients into wind forces, appropriate mean wind speed at the
top of the building is required in the following equation:
Force⫽0.5␳V 2 AC p (7)
where ␳⫽density of air; V⫽mean wind velocity at the top of the
building; A⫽corresponding single panel area; and C p ⫽combined
pressure coefficient. The mean wind speed at the top of the build-
ing was obtained from the referenced mean wind speed, V r , at
the height of 10 m from the ground 共Simiu and Scanlan 1986兲.
Using V r ⫽13.5 m/s and a power law 共Simiu and Scanlan 1986兲,
the mean wind velocity at the top of the building was calculated
at approximately 47.25 m/s. A power-law exponent of 0.365 and a
gradient height of 500 m representing city centers were used to
(5) obtain this mean velocity. Using Eq. 共7兲 and the time scale of
approximately 1:133 described above, the pressure coefficients,
(6)
measured over 27 s, were converted into an hour long wind force
data. The wind force data in both the along-wind and across-wind
directions were thus obtained. These wind force data can be al-
tered to reflect larger or smaller wind speeds by multiplying the
given time histories by (U/47.25) 2 where U⫽desired mean wind
speed at the top of the prototype building 共306 m height兲. The
referenced mean wind speed of V r ⫽13.5 m/s represents service-
ability level winds at which occupant’s comfort and motion per-
ception are important design criteria.
For the performance evaluation of control systems, only the
first 15 min 共900 s兲 of across-wind data are used for the compu-
tation of building response quantities in order to reduce the com-
putational burden. In these wind data, the mean wind force on
each floor has been removed, since it produces only the static
deflection of the building. Dynamic across-wind forces acting on
the 50th, 60th, and 70th floors of the 23 DOF with W23 model are
shown in Fig. 4. Details of the wind tunnel tests are given in a
technical note 共Samali et al. 2004兲.
Performance Criteria
Since the coupled lateral-torsional motion is neglected and since
across-wind and along-wind loads are uncorrelated, building re-
sponse quantities due to across-winds and along-winds can be
computed independently. Based on wind tunnel data, building re-
sponse quantities due to across-wind loads are much higher than
that due to along-wind loads. Consequently, only the design of
controller 共e.g., ATMD兲 using across-wind loading is considered
in this paper.
 in which ␴ ẍio ⫽RMS acceleration of the ith floor without control.
The third and fourth evaluation criteria are the ability of the con-
troller to reduce the top floor displacements. The normalized ver-
sions are given as follows:

1
J 3 ⫽␴ x76 /␴ x76o ; J 4⫽
7 兺i 共 ␴ xi /␴ xio 兲
for i⫽50,55,60,65,70,75 and 76 (10)
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where ␴ xi and ␴ xio ⫽RMS displacements of the ith floor with and
without control, respectively; and ␴ x76o ⫽10.137 cm is the RMS
displacement of the 76th floor of the uncontrolled building, see 23
DOF with W23 in Table 1.
Each proposed control design must satisfy the actuator capac-
ity constraints given by ␴ u ⭐100 kN and ␴ xm ⭐30 cm, where ␴ u
and ␴ xm ⫽RMS control force and RMS actuator stroke, respec-
tively. In addition to the above constraints, the control effort re-
quirements of a proposed control design should be evaluated in
terms of the following nondimensionalized actuator stroke and
average power:

J 5 ⫽␴ xm /␴ x76o ;
(11)

Fig. 4. Time histories of wind load on floors 50, 60, and 70: 共a兲 W 50 ;
J 6 ⫽␴ P ⫽
1
T 再冕 T

0
关 ẋ m 共 t 兲 u 共 t 兲兴 2 dt 冎 1/2

共b兲 W 60 ; and 共c兲 W 70

in which ␴ xm ⫽RMS actuator stroke; ẋ m (t)⫽actuator velocity;
T⫽total time of integration; and ␴ P denotes RMS control power.
In addition to the RMS performance, the performance in terms
of the peak response quantities is also important. This set of non-
Performance Criteria for Active Tuned Mass Damper dimensional performance criteria is given in the following:
Based on the evaluation model 23 DOF with W23, Eq. 共2兲, and J 7 ⫽max共 ẍ p1 ,ẍ p30 ,ẍ p50 ,ẍ p55 ,ẍ p60 ,ẍ p65 ,ẍ p70 ,ẍ p75兲 /ẍ p75o
the wind loads with a duration of 900 s, a numerical simulation (12)
共integration兲 for the on-line implementation of the proposed con-
trol design should be conducted to evaluate the control perfor- 1
mance. Although wind tunnel data were generated for 1 h, a du- J 8⫽
6 兺i 共 ẍ pi /ẍ pio 兲 ;
ration of 900 s has been used to reduce the computational efforts, (13)
and such a duration should be sufficient to establish the stationary for i⫽50,55,60,65,70, and 75
response properties. From the response time histories, the peak
response quantities can be obtained and the temporal RMS values J 9 ⫽x p76 /x p76o (14)
can be computed. The main objective of installing control systems
on the tall building is to reduce the absolute acceleration to alle- 1
viate the occupant’s discomfort; however, no consideration is J 10⫽
7 兺i 共 x pi /x pio 兲 ;
given to the frequency dependence of human perception to accel- (15)
eration. The first evaluation criterion for the controllers is their for i⫽50,55,60,65,70,75, and 76
ability to reduce the maximum floor RMS acceleration. A nondi-
mensional version of this performance criterion is given by where x pi and x pio ⫽peak displacements of the ith floor with and
without control; and ẍ pi and ẍ pio ⫽peak accelerations of the ith
J 1 ⫽max共 ␴ ẍ1 ,␴ ẍ30 ,␴ ẍ50 ,␴ ẍ55 ,␴ ẍ60 ,␴ ẍ65 ,␴ ẍ70 ,␴ ẍ75兲 /␴ ẍ75o
floor with and without control; for instance, x p76o ⫽32.30 cm and
(8)
ẍ p75o ⫽30.33 cm/s2 , see Table 4.
where ␴ ẍi ⫽RMS acceleration of the ith floor; and ␴ ẍ75o The actuator capacity constraints are the maximum control
⫽9.142 cm/s2 ⫽RMS acceleration of the 75th floor without con- force max兩u(t)兩⭐300 kN and the maximum stroke max兩xm(t)兩
trol, see 23 DOF with W23 in Table 1. In the performance crite- ⭐95 cm. In addition, the proposed control designs should be
rion J 1 , accelerations only up to the 75th floor are considered evaluated for the following control capacity criteria:
because the 76th floor is the top of the building and it is not used
by the occupants. J 11⫽x pm /x p76o ; J 12⫽ P max⫽max兩 ẋ m 共 t 兲 u 共 t 兲 兩 (16)
The second criterion is the average performance of accelera- t

tion for selected floors above the 49th floor, i.e.

where x pm ⫽peak stroke of actuator; and P max⫽peak control
1 power.
J 2⫽
6 兺i 共 ␴ ẍi /␴ ẍio 兲 ; From the performance criteria defined above, it is observed
(9) that the better the performance of the controller, the smaller the
for i⫽50,55,60,65,70, and 75 values of performance indices J 1 , J 2 ,...,J 12 .

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J. Eng. Mech., 2004, 130(4): 437-446

 Performance Criteria for Passive and Semiactive
Devices
Performance criteria for ATMD above, i.e., J 1 – J 12 , are appli-
cable to passive energy dissipation devices, such as viscous
dampers, viscoelastic dampers, etc., and semiactive devices, such
as MR or ER dampers, etc. Likewise, in addition to the total
number and total capacity of dampers, the locations 共e.g., story
units兲 and the number of dampers as well as their capacities to be
installed in each location should be presented.
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Design Constraints for Active Tuned Mass Damper

In order to make the benchmark problem as realistic as possible,

the following implementation constraints are imposed on the pro-
posed control design of ATMD:
1. In principle, acceleration and velocity of all floors can be
measured for feedback to determine the control action. How-
ever, for convenience of benchmark comparison, only the 20
variables in the measured output y defined by Eq. 共4兲 can be
available. Further, a maximum of six sensors is imposed. In
other words, one has the DOF to choose at most six variables
in y as the feedback quantities for the determination of the
control action. In the case of velocity feedback, the accelera-
tion sensor is used and the velocity is obtained by numerical
integration using the procedures described in Spencer et al.
共1998a兲.
2. The controller is digitally implemented with a sampling time
of ⌬t⫽0.001 s.
3. A computational time delay of 1 ms is considered for the
simulation of response.
4. The measurement noises are modeled as Gaussian rectangu-
lar pulse processes with a pulse width of 0.001 s and a two-
sided spectral density of 10⫺9 m2 /s4 /Hz, when acceleration
sensors are used. This corresponds to a diagonal covariance
matrix in which each diagonal element is 10⫺9 ␦(␶) m2 /s3 ,
where ␶ is the time interval between two time instants con-
sidered. The measurement noise level for each acceleration
sensor considered above corresponds to approximately
1–5% of the uncontrolled acceleration response of the build-
ing or about 2.5–12.5% of the controlled acceleration re-
Fig. 5. Simulink model of the building with linear quadratic
Gaussian controller
ẋr⫽Arẋr⫹Bru⫹ErW (17)
zr⫽Czrxr⫹Dzru⫹FzrW (18)
yr⫽Cyrxr⫹Dyru⫹FyrW⫹vr (19)
in which xr⫽ 关 x 16 ,x 30 ,x 46 ,x 60 ,x 76 ,x m ,ẋ 16 ,ẋ 30 ,ẋ 46 ,ẋ 60 ,ẋ 76 ,ẋ m 兴
⫽ 12-dimensional state vector; zr⫽30-dimensional controlled
output vector identical of z defined by Eq. 共3兲;
yr⫽ 关 ẍ 50 ,ẍ 76 ,ẍ m 兴 ⫽three-dimensional measured output vector;
vr⫽three-dimensional measurement noise; and Ar, Br, Er, Czr,
Dzr, Fzr, Cyr, Dyr, and Fyr⫽appropriate matrices. Here, the state
order reduction technique 关e.g., Davison 共1966兲; and Wu et al.
共1998兲兴 has been used by retaining the first 12 complex modes of
the evaluation model in Eq. 共2兲. In Eqs. 共17兲–共19兲, the excitation
W and the measurement noise vr are assumed to be uncorrelated
Gaussian white noise vector processes. However, different com-
ponents within W can be correlated.
A state feedback LQG controller is obtained by minimizing the
quadratic objective function

冋冕 册
sponse. ␶
1
5. To limit the computational resources, the compensator for J⫽ lim E 共 z̄⬘ Qz̄⫹Ru 2 兲 dt (20)
the controller in Eqs. 共5兲 and 共6兲 is restricted to have no more ␶→⬁
␶ 0
than 12 states and the compensator is required to be stable.
in which z̄⫽zr⫺FzrW⫽Czrxr⫹Dzru, Q⫽共30⫻30兲 diagonal
6. The natural frequency and damping ratio of ATMD 共or
weighting matrix⫽diag关1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,105 ,105 ,
TMD兲 are design parameters that can be chosen by the de-
10 ,10 ,0,1,1,1,1,1,105 ,105 ,105 ,105 ,0兴 , and R⫽15⫻10⫺2 . Mini-
5 5
signer.
mizing the objective function in Eq. 共20兲, the optimal controller is
7. The robustness of the controller should be discussed.
obtained as 关e.g., Skelton 共1988兲兴.
The Simulink model shown in Fig. 5 has been developed to
simulate the features and limitations of the structural control u⫽Kxr; K⫽⫺R̄ ⫺1 共 Br⬘ Pc⫹S̄⬘ 兲 (21)
problem above and to compute both the RMS and peak response
quantities as well as the performance indices. A time step of ⌬t where Pc⫽solution of the Riccati matrix equation
⫽0.001 s for the integration has been used in the simulation. PcĀ⫹Ā⬘ Pc⫺PcBrR̄ ⫺1B⬘r Pc⫹Q̄⫺S̄R̄ ⫺1S̄⬘ ⫽0 (22)
in which Q̄⫽C⬘zrQCzr; R̄⫽D⬘zrQDzr⫹R; S̄⫽C⬘zrQDzr; and Ā
Sample Controller Design ⫽Ar⫺BrR̄ ⫺1S̄⬘ . The calculation of K can be made using the
MATLAB function lqry within the control toolbox.
To illustrate some challenges of the benchmark problem, a con- The controller obtained in Eq. 共21兲 requires the reduced-order
troller design based on the LQG theory is presented. In the LQG state feedback xr, which can be estimated from an observer, de-
approach, a reduced-order system is constructed from the evalu- noted by x̂r, based on the separation principle. The Kalman–Bucy
ation model in Eq. 共2兲 for the design of the controller, referred to filter 关e.g., Skelton 共1988兲; and Spencer et al. 共1998a兲兴 can be
as the control design model, as follows: designed to estimate x̂r as follows:

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J. Eng. Mech., 2004, 130(4): 437-446

 Table 2. Evaluation Criteria for the Sample Controller
Root-Mean-Square responses Peak responses
Criteria ⌬K⫽0% ⌬K⫽15% ⌬K⫽⫺15% Criteria ⌬K⫽0% ⌬K⫽15% ⌬K⫽⫺15%
J1 0.369 0.365 0.387 J7 0.381 0.411 0.488
J2 0.417 0.409 0.438 J8 0.432 0.443 0.539
J3 0.578 0.487 0.711 J9 0.717 0.607 0.770
J4 0.580 0.489 0.712 J 10 0.725 0.614 0.779
J5 2.271 1.812 2.709 J 11 2.300 1.852 2.836
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J 6 共kN m/s兲 11.99 8.463 16.61 J 12 , kN m/s 71.96 52.68 118.33

␴ u 共kN兲 34.07 28.29 44.32 max兩u(t)兩, kN 118.24 105.58 164.33
␴ xm 共cm兲 23.03 18.37 27.46 max兩xm兩, cm 74.29 59.83 91.60

x̂˙r⫽Arx̂r⫹Bru⫹L共 yr⫺Cyrx̂r⫺Dyru 兲
in which the observer gain matrix L is obtained from
L⫽ 共 P0C⬘yr⫹S0兲 R⫺1
0
(23) The calculation of L in Eq. 共24兲 can be made using the MATLAB
subroutine lqew within the control toolbox.
Finally, the controller in Eqs. 共21兲–共23兲 is converted to the
(24) form in Eqs. 共5兲 and 共6兲 as follows:

where P0⫽solution of the Riccati matrix equation xc共 k⫹1 兲 ⫽Acxc共 k 兲 ⫹Bcyr共 k 兲 (28)

P0A0⫹A0⬘ P0⫺P0C⬘yrR⫺1 ⫺1
⬘ ⫽0
0 CyrP0⫹Q0⫺S0R0 S0 (25) u 共 k 兲 ⫽Ccxc共 k 兲 ⫹Dcyr共 k 兲 (29)
and in which dim关 xc(k) 兴 ⫽12 and xc⫽xr⫽x̂r.
Based on the eigenvalue analysis of the evaluation model and
A0⫽A⬘r ⫺C⬘yrR⫺1
0 S⬘
0 (26)
the control design model, both the controller and the closed-loop
In Eqs. 共24兲–共26兲, Q0 and R0⫽autopower spectral density matri- system are found to be stable. To assess the performance of the
ces of two vectors ErW and FyrW⫹vr, respectively; and S0 is the controller, dynamic response analyses have been conducted using
cross-power spectral density of two vectors ErW and FyrW⫹vr. the computer programs available at the website 共SSTL 2002兲.
These matrices are given by Time histories of the response quantities are determined from the
evaluation model for a duration of 900 s. Then, the temporal RMS
Q0⫽ErS̄WWE⬘r ; S0⫽ErS̄WWF⬘yr ; response quantities are obtained by taking the temporal average.
(27)
R0⫽S̄vrvr⫹FyrS̄WWF⬘yr The results for the evaluation criteria for the LQG sample
controller are presented in columns 2 and 6 of Table 2 (⌬K
where S̄WW and S̄vrvr⫽power spectral density matrices of the ⫽0%), in which the required active control force and the stroke of
white noises W and vr, respectively, for the design purpose. For the actuator are also shown. As observed from Table 2, the hard
constraints on the actuator requirements, i.e., ␴ u ⭐100 kN, ␴ xm
the observer design, S̄WW and S̄vrvr can be scaled appropriately for
⭐30 cm, max兩u(t)兩⭐300 kN, and max兩xm(t)兩⭐95 cm, are satisfied.
convenience of numerical computations. For this sample control- The RMS and the peak response quantities are presented in Tables
ler, we choose S̄vrvr⫽diag关0.1,0.1,0.1兴 and S̄WW⫽␣• 兩 Sww(␻) 兩 3 and 4, respectively, for selected floors and the inertial mass of
⫽1.524⫻10⫺4 兩 W̄(␻)W̄⬘ * (␻) 兩 at ␻⫽0.1743 rad/s, where damper 共last row denoted by ‘‘MD’’兲. In Tables 3 and 4, the
Sww(␻) is the cross-power spectral density matrix of across-wind results using a passive TMD without actuators are presented in
loads and W̄共␻兲 is the Fourier transform of the wind load W(t). columns 4 and 5, whereas the results based on the ATMD with the

Table 3. Root-Mean-Square Response Quantities of the 76-Story Building for the Sample Controller
Linear quadratic Gaussian
␴u⫽34.07 kN
No control Tuned mass damper ␴P⫽11.99 kN m/s
Floor ␴ x io ␴ ẍ io ␴x i ␴ ẍ i ␴x i ␴ ẍ i
number 共cm兲 共cm/s2兲 共cm兲 共cm/s2兲 共cm兲 共cm/s2兲
1 0.017 0.06 0.012 0.06 0.010 0.06
30 2.154 2.02 1.476 1.23 1.261 0.89
50 5.219 4.78 3.567 2.80 3.040 2.03
55 6.106 5.59 4.170 3.26 3.552 2.41
60 7.023 6.42 4.792 3.72 4.079 2.81
65 7.966 7.31 5.431 4.25 4.620 3.16
70 8.923 8.18 6.079 4.76 5.168 3.38
75 9.915 9.14 6.751 5.38 5.736 3.34
76 10.137 9.35 6.901 5.48 5.863 4.70
md — — 12.757 13.86 23.026 22.40

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J. Eng. Mech., 2004, 130(4): 437-446

 Table 4. Peak Response Quantities of 76-Story Building for the Sample Controller
Linear quadratic Gaussian control
umax⫽118.2 kN
No control Tuned mass damper Pmax⫽71.96 kN m/s
Floor x pio ẍ pio x pi ẍ pi x pi ẍ pi
number 共cm兲 共cm/s2兲 共cm兲 共cm/s2兲 共cm兲 共cm/s2兲
1 0.053 0.22 0.044 0.21 0.041 0.23
30 6.838 7.14 5.595 4.68 5.141 3.38
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50 16.585 14.96 13.339 9.28 12.215 6.73

55 19.413 17.48 15.540 10.74 14.218 8.05
60 22.339 19.95 17.800 12.69 16.271 8.93
65 25.353 22.58 20.103 14.72 18.364 10.06
70 28.414 26.04 22.432 16.77 20.478 10.67
75 31.588 30.33 24.841 19.79 22.665 11.56
76 32.300 31.17 25.381 20.52 23.154 15.89
md — — 42.600 46.18 74.290 72.64

LQG sample controller are presented in columns 6 and 7. The
corresponding results for the building without control are shown
in columns 2 and 3 for comparison. Based on the design code for
office buildings, the maximum allowable floor acceleration is 15
cm/s2 共or a RMS value of 5 cm/s2兲. Excluding the 76th floor on
which there is no occupant, the design requirement is satisfied by
the use of an ATMD as observed from Tables 3 and 4. On the
other hand, the installation of a passive TMD does not satisfy the
design code requirement, and the floor accelerations are excessive
for the building without any control system, see Tables 3 and 4.
To show the robustness of the controller, we only consider the
uncertainty of building stiffness, since it has been demonstrated in
the literature 关e.g., Yang and Akbarpour 共1990兲兴 that active con-
trollers are not sensitive to the uncertainty in damping. In addition
to the building above, referred to as the ‘‘nominal building,’’ two
additional buildings are considered; one with a 15% higher stiff-
ness matrix and another with a 15% lower stiffness. The 共76⫻76兲
stiffness matrix 共76 DOF兲 of the first building, referred to as the
‘‘⫹15% building,’’ is obtained by multiplying 1.15 to the 共76
⫻76兲 stiffness matrix of the nominal building. Similarly, the 共76
⫻76兲 stiffness matrix of the second building, referred to as the
‘‘⫺15% building,’’ is obtained by multiplying 0.85 to the 共76
⫻76兲 stiffness matrix of the nominal building. The controller ob-
tained previously for the nominal building is applied to the ⫾15%
buildings and the response analyses were carried out. The peak
and RMS response quantities for these two buildings are pre-
sented in Table 5. The performance indices, which are referred to
共or normalized by兲 the uncontrolled response quantities of the
nominal building in Tables 3 and 4 are shown in columns 3, 4, 7,
and 8 of Table 2 for comparison. Also shown in Table 2 are the
RMS and peak values of the control force and actuator stroke.
As observed from the results in Tables 3–5, the acceleration
response quantities are robust. However, the displacement re-
sponse and the required actuator capacity 共stroke, control force,
and control power兲 are sensitive to the stiffness uncertainty. In
comparison with the closed-loop response of the nominal struc-
ture 共Table 3兲, the RMS displacement of the 75th floor, stroke,
active control force, and control power for the ⫺15% building
increase by about 23%, 19.24%, 30%, and 38.5% respectively.
Further, the stroke of the actuator is close to the prescribed limit
(␴ xm ⭐30 cm, 兩 x m (t) 兩 ⭐95 cm). On the other hand, the RMS dis-
placement response, stroke, active control force, and control
power reduce by 15.7%, 20.2%, 16.97%, and 29.4%, respectively,
for the ⫹15% building in comparison with that of the nominal
building 共LQG controller case兲. Numerical results above indicate

Table 5. Peak and Root-Mean-Square Response Quantities of the 76-Story Building for Linear Quadratic Gaussian Sample Controller Using the
Building with Uncertainty in Stiffness Matrix
Uncertainty in stiffness (⌬K)⫽⫹15% Uncertainty in stiffness (⌬K)⫽⫺15%
umax⫽105.58 kN ␴u⫽28.29 kN umax⫽164.33 kN ␴u⫽44.32 kN
Pmax⫽52.68 kN m/s ␴P⫽8.46 kN m/s P max⫽118.33 kN m/s ␴P⫽16.61 kN m/s
Floor x pi ẍ pi ␴ xi ␴ ẍ i x pi ẍ pi ␴ xi ␴ ẍ i
number 共cm兲 共cm/s2兲 共cm兲 共cm/s2兲 共cm兲 共cm/s2兲 共cm兲 共cm/s2兲
1 0.034 0.230 0.008 0.057 0.044 0.216 0.012 0.058
30 4.353 3.362 1.066 0.879 5.536 3.641 1.545 0.946
50 10.346 6.633 2.566 1.988 13.124 7.873 3.729 2.135
55 12.042 7.995 2.997 2.355 15.270 9.898 4.358 2.545
60 13.779 9.129 3.440 2.730 17.470 11.128 5.007 2.975
65 15.550 10.087 3.895 3.084 19.717 12.634 5.674 3.341
70 17.338 11.577 4.356 3.315 21.989 14.014 6.350 3.543
75 19.187 12.456 4.833 3.340 24.342 14.795 7.050 3.428
76 19.600 15.864 4.939 4.491 24.869 18.759 7.207 5.118
md 59.829 60.868 18.371 19.223 91.596 79.060 27.460 24.322

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J. Eng. Mech., 2004, 130(4): 437-446

 that a designer should not overestimate the stiffness of the build-
ing in designing the controller.
It is noticed that the across-wind response of the structure to
wind loading depends on the building frequency. It should also be
noted that the response of tall building to wind loading is highly
dependent on the geometry of the structure, surrounding topogra-
phy and structures, and the building motion. The rigid model tests
carried out for the 76-story benchmark building do not include
any aerodynamic effects caused by the building motion. However,
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for a building of similar geometry, dynamic effects for any set of
natural frequencies could be incorporated using the procedures
similar to those detailed in Holmes and Wood 共2001兲. In the ab-
sence of the wind tunnel data for the ‘‘⫾15% buildings,’’ the
across-wind loads for the nominal building have been used for a
crude approximation. Consequently, the robustness evaluation
above reflects only the trend rather than the actual performance.
Closure
MATLAB m-files to simulate 76-state building model 共76 DOF兲,
46-state evaluation models 共23 DOF with W23兲, 48-state simula-
tion model for the sample controller 共24 DOF W24兲, the 12-state
control design model, and time histories of across-wind loads are
all available at the website 共SSTL 2002兲 to; 共1兲 execute the
sample control design, and 共2兲 compute the time histories of the
response quantities, including RMS and peak values, based on
any controller. Likewise, computer codes for the model reduction
from 77 DOF 共with any ATMD and any percentage of stiffness
uncertainty兲 to the 24 DOF with W24 are included. Such com-
puter codes will enable the designer to design different ATMD
and conduct robustness evaluations. The benchmark problem
package contains the wind load time histories for 76 floors for the
duration of 3,600 s and the enclosed computer program calculates
wind load time histories for the 23 DOF with W23 model 共evalu-
ation model兲 for a specified duration 共default⫽900 s兲. Details
about the usage of computer programs included in the benchmark
problem package are described in the ‘‘readme.doc’’ or ‘‘readme-
.pdf’’ files enclosed with the benchmark problem package.
Passive and semiactive control systems 共or devices兲 can be
installed in any selected story units. This will add the additional
damping and stiffness to the 共76⫻76兲 damping and stiffness ma-
trices of the nominal building. The computer codes at the website
共SSTL 2002兲 can be used to reduce the system to 23 DOF with
W23 共evaluation model兲 and to compute the response quantities
of the controlled structure. Any participant who cannot access the
website 共SSTL 2002兲 or has any questions regarding the bench-
mark problem can contact the authors via E-mail.
This is the first generation benchmark problem for the re-
sponse control of wind-excited tall buildings. Simplifications for
the control environments have been made, in particular, the ac-
tuator dynamics and controller-structure interaction are not con-
sidered, although these effects may be significant 共Dyke et al.
1995; and Wu et al. 1999, 2000兲. As more experience is gained
through this study, an improved next generation benchmark prob-
lem will be established in which coupled lateral-torsional motions
will be included.
Acknowledgments
This research was partially supported by National Science Foun-
dation Grant Nos. CMS 96-25616 and 02-18813. Valuable com-
JOURNAL OF ENGINEERING MECHANICS © ASCE / APRIL 2004 / 445
J. Eng. Mech., 2004, 130(4): 437-446
ments and suggestions by Professor Bill Spencer, Jr. and his as-
sociates, the working group on benchmark problems of 2nd
International Workshop on Structural Control, and the ASCE
benchmark committee are gratefully acknowledged.
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