## 3 Controller System Design  
Figure 4 illustrates the experimental design of the building, the TMD control system and shaking table setup. Figure 4a,b presents a three-story steel building attached with TMD control system which the base of the control system is weight 1.26 Kg. A scaled steel frame building structure with a plane eccentricity of zero percent on each floor, and a total height of 930 mm is selected. Diameter of circle section area of steel columns is 5 mm and story height is 310 mm that the weight of columns for each floor is equal to 4 \(\times\) 0.05 = 0.2 kg. All degrees of freedom (DOF) are restricted at base level. Each floor consists of a rigid steel square plate (300 mm \(\times\) 300 mm) with 3.44 kg weight with three degrees of freedom; translation in \(x\)- and \(y\)-directions; and rotation around a vertical line passing through the centers of mass in each floor. Therefore, total number of DOFs after the application of the boundary conditions, rigid diaphragm and also Guyan reduction [26] of vertical and rotational DOFs around \(x\)- and \(y\)-axes is equal to 9 (degree of freedom was 42 prior to the application of the boundary conditions). In order to record the response of the building model subjected to an excitation load, three wireless accelerometers with identical properties were installed at each floor (see Figure 4a). The accelerometers were equipped with a wireless Bluetooth system to transfer the data to the core computer. These devices were able to record the acceleration responses in the \(x\)- and \(y\)- directions at the same time. Dynamic loading is applied to the structure by using an earthquake simulating shaking table (ST-E-1) designed by Smart Control & Sensing. The shaking table system consists of  
Figure 3: Proposed models procedure.  
an application program, a control box and a shaking table, which work together simultaneously and the delay time is about 62.5 micro-seconds which can be ignored during the process (see Figure 4c). Furthermore, the load is directly connected to the motor. Therefore, there is no elasticity from the moving elements. Thus, the dynamic behavior of the servo control is improved and higher levels of accuracy are achieved. Table 1 reports the performance characteristics of the employed shaking table. The shaking table program is used to de-noise the recorded response and the design seismic signals. The mass attached to the TMD control system in this study are 1.80 and 2.39 kg. Herein, it must be noted that these amount of masses are larger than usual. However, the obtained response would still be used for the validity examination of the identification systems. The structure responses for those two controllers are presented in Section 4.  
Figure 4: Tuned mass damper (TMD) passive vibration controller installed on scaled test model: (**a**) scaled frame building, attached with controllers and monitoring systems; (**b**) TMD; (**c**) process of seismic excitation applied to structure through shaking table.  
The acceleration response of each floor is recorded by wireless monitoring systems. Figure 5a,b presents the input signal and its frequency domain power spectral density. The dominant signal frequency is 1.92 Hz; however, the provided effective frequency range is between 1.5 and 2.3.