A state observer for a building with a magneto-rheological damper and parameter uncertainty

A real-time parameters and state estimation scheme for a shear multi-degree-of-freedom building with a magneto-rheological damper is presented. The design follows standard Lyapunov´s theory and exploits the bilinear structure of the mathematical model of the building to construct the adaptation law for the parameters and the observer for the model states. A sufficient condition for stability is given via a linear matrix inequality. The design is illustrated simulations of a small scale three-story building subject to seismic excitation. Results indicate that the observer is able to recover system´s state and parameters by using only measurements of the stories acceleration