SUMMARYIn this paper we present control design methods that provide desirable levels of performance and simultaneously account for actuator and sensor reliability (or malfunction) for buildings under seismic excitations. Performance is de"ned in terms of the disturbance attenuation (i.e.¸ gain) from the disturbances to the controlled outputs of the system. The reliability of actuators and sensors refers to the deviation of actual control forces or actual sensor measurements from their ideal levels. Simulation results for a six-storey building are used to demonstrate the e!ectiveness of the control analysis and design method presented.

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