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Actuators tend to introduce spurious dynamics to the system which can result in inaccuracy or even instability. Conventional means of mitigating these dynamics can be ineffective in the presence of nonlinearity in the physical substructure or transfer system. This article presents the first experimental tests of a novel passivity-based controller for hybrid testing. Passivity control was found to stabilize a real-time hybrid test which would otherwise exhibit instability due to the combination of actuator lag and a stiff physical substructure. Limit cycle behaviour caused by nonlinear friction in the actuator was also reduced by 95% with passivity control, compared to only 64% for contemporary methods. The combination of passivity control with conventional methods is shown to reduce actuator lag from 35.3\u00b0 to 13.7\u00b0. A big advantage of passivity control is its simplicity compared with model-based compensators, making it an attractive choice in a wide range of contexts.<\/jats:p>","DOI":"10.1177\/0959651820959003","type":"journal-article","created":{"date-parts":[[2020,9,28]],"date-time":"2020-09-28T04:58:25Z","timestamp":1601269105000},"page":"914-928","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["Passivity control for nonlinear real-time hybrid tests"],"prefix":"10.1177","volume":"235","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9424-1312","authenticated-orcid":false,"given":"LD Hashan","family":"Peiris","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of Bath, Bath, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0082-3480","authenticated-orcid":false,"given":"Andrew R","family":"Plummer","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Bath, Bath, UK"}]},{"given":"Jonathan L","family":"du Bois","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Bath, Bath, UK"}]}],"member":"179","published-online":{"date-parts":[[2020,9,28]]},"reference":[{"key":"e_1_3_3_2_2","doi-asserted-by":"publisher","DOI":"10.1243\/09596518JSCE207"},{"key":"e_1_3_3_3_2","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1096-9845(199910)28:10<1121::AID-EQE858>3.0.CO;2-O"},{"key":"e_1_3_3_4_2","doi-asserted-by":"publisher","DOI":"10.1098\/rspa.2005.1532"},{"key":"e_1_3_3_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jsv.2007.07.004"},{"key":"e_1_3_3_6_2","first-page":"1891","volume-title":"Proceedings of the ISMA 2010","author":"du Bois J","unstructured":"du Bois J, Titurus B, Lieven N. 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