This paper presents a general formulation of the model predictive control ͑MPC͒ scheme with special reference to acceleration feedback in structural control under earthquakes. The MPC scheme is based on a prediction model of the system response to obtain the control action by minimizing an objective function. Optimization objectives include minimization of the difference between the predicted and desired response trajectories, and of the control effort subject to certain constraints. The

more »

... veness of MPC has been demonstrated to be equivalent to the optimal control. In this study, the prediction model is formulated using a feedback loop containing acceleration measurements from various locations in the structure. The state observer utilizes the Kalman-Bucy filter to estimate the states of the system from the acceleration feedback. Examples of single-story and three-story buildings equipped with control devices are used to demonstrate the effectiveness of the MPC scheme based on acceleration feedback. Both buildings are analyzed using an active tendon control device and an active mass damper ͑AMD͒. A two-story building with an AMD is used to experimentally validate the numerical control scheme. The results demonstrate the effectiveness of the MPC scheme using acceleration feedback. The acceleration feedback framework developed in this paper should serve as a building block for future extensions of MPC in capturing and benefiting from the attractive features of MPC, i.e., computational expediency, real-time applications, intrinsic compensation for time delays, and treatment of constraints, for implementation in civil structures.