EARTHQUAKE ENGINEERING AND STRUCTURAL DYNAMICS, VOL.

22,633 645 (1993)

SEISMIC RESPONSE OF HEAVILY DAMPED BASE

ISOLATION SYSTEMS

HSIANG-CHUAN TSAI*
Department of Construction Engineering, National Taiwan Institute of Technology, Taipei, Taiwan. R.O.C.

AND

JAMES M. KELLY '

Department of Civil Engineering, University of California. Berkeley, California, V . S . A

SUMMARY
The development of an efficient energy-dissipating mechanism that works in conjunction with laminated elastomeric
bearings in order to reduce the lateral deformation of the isolation system has always been a goal of base isolation
research. Theoretically, this deformation will be reduced to the minimum if damping augmentation of the isolation
system can reach a critical value. However, augmenting the isolation damping may cause some unwanted side effects. The
purpose of this paper is to study the influence of isolation damping on the seismic response of heavily damped
base-isolated buildings. The base isolation system is assumed to be linearly viscoelastic and is analysed using the complex
mode method. Solutions derived by using perturbation techniques for a two-degree-of-freedom system and the computer
simulation for a multiple-degree-of-freedom system reveal that augmenting the isolation damping can reduce efficiently
the deformation of the isolation system, but at the price of increasing the high-frequency vibration in the superstructure.
When the damping ratio of the isolation system is beyond some level, increasing the isolation damping will enlarge the
extreme values of the base and superstructural accelerations. It is also found that approximate solutions derived from the
use of classical damping and classical modes of vibration in the seismic analysis of heavily damped base isolation systems
can be substantially in error.

INTRODUCTION
A base-isolated building' consists of two subsystems, the superstructure and the isolation system. The
stiffness and damping properties of these two subsystems are completely different. As in a conventional
building, the superstructure of a base-isolated building is made of a more rigid material, such as steel or
reinforced concrete. Its damping is relatively low, especially if the seismic response of the superstructure
remains within the elastic range. There are many kinds of isolation systems, but the most commonly used
systems in the United States and Japan combine elastomeric multilayer bearings with one or more types of
hysteretic dampers.' In this paper, the isolation system to be studied will be restricted to one using
a laminated elastomeric bearing and an associated viscous-damping mechanism. This kind of isolation
system is flexible in the horizontal direction so that the natural frequency of a building can be below the
dominant frequency range of input earthquakes. The low stiffness of the isolation system could cause the
displacement of a building relative to the ground to become unacceptably large for some types of input
ground motion, and thus the isolation system itself must have some energy-dissipating capacity to reduce the
base deformation. The development of an efficient energy-dissipating mechanism to work in conjunction
with laminated elastomeric bearings has always been a goal of base isolation research. Theoretically, the base
deformation will be reduced to a minimum if damping augmentation of the isolation system can reach
a critical value. However, augmenting the isolation damping may cause some unwanted side effects. The

*Associate Processor
'Professor

0098-8847/93/070633-13Ul.50 Received 24 September 1992

0 1993 by John Wiley & Sons, Ltd. Revised 12 January 1993
634 H.-C. TSAI AND J. M. KELLY

purpose of this paper is to study the influence of isolation damping on the seismic response of heavily damped
base-isolated buildings.
The classical mode method3 is usually used for the evaluation of the seismic response of a conventional
building assuming that the building is classically damped. Because the damping characteristics of a conven-
tional building are light and homogeneous, the assumption of classical damping is a justifiable approxima-
tion. For a base-isolated building, however, the applicability of this assumption becomes questionable. The
superstructure and isolation system are made of materials with significantly different energy dissipation
characteristics, so that the overall damping matrix for the combination of these two subsystems is usually
non-classical, and when transformed by classical modal co-ordinates the equations of motion are still
coupled. If the classical mode method must be applied, the off-diagonal terms in the transformed damping
matrix, representing the modal coupling, have to be completely ignored and the diagonal elements are used
to compute the modal damping ratios4 The accuracy of using this approximate method to compute the
seismic response of a base-isolated building, which will be referred to herein as the classical damping
approximation, has been studied in an earlier paper by the present authors.’ In comparison with the results
of the complex mode method,6 which is an exact approach to solve the problems of non-classical damping
but requires a double computational effort to find complex-valued natural modes, it has been found that
a high isolation damping ratio or a high input frequency will increase the error created by the classical
damping approximation. However, it has also been found that the error is negligible for a mildly damped
isolation system which has an isolation damping ratio of about 10 per cent, such as the system used in the
first base-isolated building in the United state^.^
In this paper, the base-isolated building is assumed to be linearly viscoelastic and is analysed by using the
complex mode method. The base-isolated building is first modelled as a two-degree-of-freedom system. The
mathematical expressions for the steady-state response of this simple model excited by the harmonic ground
motion and for the transient response excited by general earthquake accelerations are derived through
perturbation techniques. These expressions can provide an insight into the influence of isolation damping on
the dynamic response of base-isolated buildings. The errors of utilizing the classical damping approximation
to compute the response of heavily damped isolation systems are also investigated. Finally, the complex
modal analysis of linear base isolation systems is implemented in a computer program, which is then used to
analyse a multiple-storey building with different isolation dampings excited by several real earthquake
records. These numerical results provide the sensitivity study of the vibrational characteristics of a base-
isolated building to the magnitude of the isolation damping.
It should be emphasized that the behaviour of base-isolated buildings studied here is assumed to be
linearly viscoelastic, which is different from the real behaviour during strong earthquakes, where isolation
systems may exhibit strong non-linear behaviour. However, the purpose of this paper is to investigate the
influence of isolation damping on the seismic response of base-isolated buildings. Using a linearly viscoelastic
model can provide a clearer understanding of the effect of high damping on the response.

EQUATIONS OF MOTION
The two-dimensional model of a base-isolated building is shown in Figure 1, where only horizontal degrees
of freedom are considered. The base of the isolated structure is treated as a rigid lumped mass, mb, and its
displacement relative to the ground is denoted as u b . The isolation system has lateral stiffness kb and damping
c b . The superstructure has n degrees of freedom with mass matrix M, damping matrix C and stiffness matrix
K. The displacement vector, u, formed by the components ui corresponding to the ith superstructural degree
of freedom, represents the superstructural deformation relative to the base and is equivalent to the
superstructural displacement relative to the ground in the case of unisolated traditional buildings. The
response of this base isolation model excited by a ground acceleration ii, is governed by the following
equations:
m f i i b + r’Mu + Cbtib + k b u b = - mfii, (1)
and
+
MrUb MU + CU + KU = - Mrii, (2)
 HEAVILY DAMPED BASE ISOLATION SYSTEMS 635

Figure 1. Theoretical model of base-isolated building

+
where r is an n x 1 vector with all components equal to one and m f= mb rTMr is the total mass of the
base-isolated building.
Using the modal synthesis approach,8 the superstructural displacement vector u can be expressed as
the linear combination of the mode shapes of the unisolated superstructure. Let wi and mi be the ith
modal frequency and mode shape of the unisolated superstructure which have the following orthogonality
properties:

@:Maj = { Mi if i = j
0 ifi#j (3)
and
@TK@j = { ; ; M i if i = j
(4)
if i # j
where Mi is the ith modal mass. A new co-ordinate system x i is introduced by

u= c
n

i= 1
XiLi@i

in which Li is the participation factor of the ith superstructural mode defined as

Li = @TMr/Mi (6)
The generalized co-ordinate x i represents the amplitude of each superstructural mode shape in the unisolated
case.
As in a conventional building, the superstructure of the base-isolated building can be presumed to be
classically damped, so that the damping properties of the superstructure can be described in terms of the
damping ratios of the unisolated modes and the mode shapes will satisfy the following orthogonal relations
with respect to the damping matrix C :

@'TCcDj= { 2SiwiMi if i = j
if i # j (7)

where ti is the damping ratio of the ith superstructural mode.

Substitution of equation ( 5 ) into equation (1) leads to
n
iib + i= 1
yixi + 25bWbCb + 2
WbUb = - iig
636 H.-C. TSAI AND J. M. KELLY

where yi = MiL:/mf is the ratio of effectivemodal mass to total mass, = Jkb/mf is the natural frequency
of the isolation system, treating the superstructure as a rigid mass, and < b = c b / h b m f is the associated
damping ratio. Premultiplying by @T
and applying the orthogonality properties of superstructural mode
shapes reduces equation (2) to the following n equations:
Yifib + yixi + 2tiOiyii-i + 0:yiXi = - yifig (9)
for i = 1, . . . , n. Equations (8) and (9) form a new set of equations of motion which are simpler than the
original equations of motion because only the coefficients of acceleration terms are coupled. In addition, the
total number of equations can be reduced if the higher-frequency modes contributed to the superstructural
deformation in equation ( 5 ) are neglected. This new set of equations of motion can be solved by the complex
mode method described in References 5 and 6 or by the direct step-by-step analysis approach describes in
Reference 4.

STEADY-STATE RESPONSE
At large isolation strain levels, there is a large difference in stiffness between the isolation system and the
superstructure so that the superstructural deformation is much smaller than the base deformation. In the
fundamental mode of a base-isolated building, the superstructural components are of second-order com-
pared to the base component.' The simplest approximation is to treat the superstructure as a rigid mass, and
then the complete base isolation system becomes a single-degree-of-freedom system whose equation of
motion is
mfiib + Cbtib + k b U b = - mfii, (10)
When subjected to a harmonic ground excitation with frequency o,the amplitude ratio of the absolute
superstructural acceleration to the input ground acceleration, which is referred to as the transmissibility of
the isolation system, is given by

where 4, = o / w b is the ratio of the input frequency to the isolation frequency. A plot of the transmissibility as
a function of the frequency ratio for damping ratios t b = 0-1,0.3 and 0.5 is shown in Figure 2. All curves of
different damping ratios pass through the same point at a frequency ratio equal to fi.3
When the input
frequency is smaller than this point, enhancing the damping can reduce the transmissibility. On the other
hand, if the frequency ratio is greater than 8,
enhancing the damping will increase the transmissibility.

- Damping ratio = 0.1

.- - - - - - Damping ratio = 0.3
Damping ratio = 0.5

---__

I ~ ~ ~ ~ ~ ~ ~ ~ ' I ~
0 2 4 6 8 10
Frequency Ratio

Figure 2. Transmissibility of base isolation system

 HEAVILY DAMPED BASE ISOLATION SYSTEMS 637

Higher transmissibility means larger base motion, causing greater superstructural vibration if the flexibility
of the superstructure is considered. Because the natural frequency of the superstructure is much higher than
that of the isolation system, the resonant frequency of the superstructure will be in a range of frequency ratios
greater than a. Therefore, Figure 2 indicates that augmenting the isolation damping may magnify the
high-frequency content of the superstructural response.
To illustrate this phenomenon, the superstructure is now modelled as a one-degree-of-freedom system so
that the entire base-isolated building becomes a two-degree-of-freedom system. The associated equation of
motion can be found from equations (8) and (9) and has the form

where y here becomes the ratio of superstructural mass to total mass. For the superstructure having multiple
degrees of freedom, the above equation is still applicable if the superstructural deformation is approximated
by the first unisolated mode, u z x l L 1 a l , and u1 in equation (12) is replaced by x1 and y1 = MIL:/mf.
When subjected to a harmonic ground excitation, ii, = A, expriot), the steady-state response of the system
becomes

with
A = 1 - (1 E + 4&cb<1)pz (1 - y l ) E f l 4 + 2ip[tb &ti - (Etb + ,/'itl)PzI (14)
where E = (ob/w1)2 represents the square of the ratio of the isolation frequency to the superstructural
frequency. Because the superstructure is more rigid than the isolation system, E is a parameter much less
than one.
The amplitude ratios of the absolute superstructural acceleration to the input ground acceleration,
I(ul + iib + ii,)/ugl, for three different values of t b are plotted in Figure 3 as a function of p. The other
parameters used to construct these curves are y1 = 0.4, t1= 0.02 and E = 0.02.The two peaks in the curves at
j3 2 1 and B x 1 / d m correspond to the two modal frequencies of the base-isolated b ~ i l d i n gSimilar
.~
to Figure 2, Figure 3 shows that augmenting the damping of the isolation system will magnify the response of
the superstructure in the case of a high-frequency input. Higher damping can reduce the superstructural
response only when the input frequency is close to the natural frequency of the isolation system. The
relationship between the superstructural response and the isolation damping can be seen more clearly by
neglecting the second-order terms of the amplitude ratio. The damping of the superstructure is so light that
its damping ratio tl can be assumed to be of the same order of magnitude as E. By neglecting the higher-order

0.01 I . I I T I I I T 0 I I I I I I I T I , 1 6 I
638 H.-C. TSAI AND J. M.KELLY

terms of E, the amplitude ratio at fl = 1, that is the input frequency equal to wb, is approximately equal to

which indicates that increasing &, can reduce the amplitude. However, when fl = l/&, the damping ratio
becomes

which shows that the superstructural response increases linearly with rb when the input frequency is wl.

TRANSIENT RESPONSE
The transient solution of equation ( 1 2 ) can be found through perturbation techniques. In order to utilize
perturbation techniques, the relative order of magnitude of the parameters of the system must be established.
The magnitude of the parameter E is small in the base isolation system. Assuming that the magnitude of &, is
of order & and t1 is of order E, the transient response excited by the general ground motion has been
derived as’

where h i ( t ) is the Duhamel integral,3

and &t) is the following derivative of h i ( t ) :

In the above equations, % ( p i ) and J(pi) stand for the real part and imaginary part of the complex eigenvalue
p i . The major terms of two complex eigenvalues have been found’ as
p1 x w b [ - < b ( l -2YlE)+i(1 -!fYlE-!f<;)1 (20)
and

For the two-degree-of-freedom system, there are four complex eigenvalues. However, only the above two
eigenvalues with positive imaginary parts are needed; the remaining two eigenvalues are their conjugate
pairs.
In equation (17), the last term contains a term linear in 5 b . When increasing r b , the magnitude of the
Duhamel integrals and its derivatives can be expected to decrease, but the last term in equation ( 1 7 ) may
enhance its contribution to the response, especially the high-frequency content, because the last term
contains the derivative of the Duhamel integrals. The first term in the base displacement, Ub, is a dominant
term, and the last term is of second-order and thus cannot have much effect on the base displacement.
However, for the superstructural displacement relative to the base, ul, all the three terms are of the same
order of magnitude. Variation in the last term due to &, may cause a major change in ul.
To support the above conclusions, the numerical integration of equation ( 1 7 ) for the excitation of the N-S
component of the 1940 El Centro earthquake record has been carried out. The parameters of the model used
in the computation are y1 = 0.4, = 0.02, E = 0.02 and wb = 0.5 Hz. The computed time-history responses
 HEAVILY DAMPED BASE ISOLATION SYSTEMS 639

of u b and u1 for three different values of tb are shown in Figures 4 and 5. The corresponding peak values are
summarized in Table I. These results show that increasing (b can reduce u b , but cannot reduce the extreme
cb
value of u1effectively when (b is high because the high value of can increase the high-frequency vibration of
ul, as shown in Figure 5.

CLASSICAL DAMPING APPROXIMATION

Since the classical mode method has widespread application in earthquake engineering practice, it is
interesting to study the accuracy of using the classical damping approximation in the analysis of the heavily
damped base isolation system. Applying the procedure of the classical damping approximation to equation
(12), two modal damping ratios have been found by perturbation techniques5
?I *tb (22)
and

which indicate that a higher (b will have higher modal damping ratios. Based on these two damping ratios,
, ~ equation (12) can be
a classical damping matrix having the Rayleigh damping form can be d e r i ~ e dand
rewritten as

[ Y1 "1
Y1 {;;}+(u.[ 1
Y1 q+ul[o: 1) {;;}
Y1 0 4 O
7 1

+ [wo" opY1] { ::} =- { y:}

Isolation damping ratio = 0.1

- I
I

7 Isolation damping ratio = 0.3

-.
1
8i
Isolation damping ratio = 0.5

- I , , , , , l I I 1 l I 1 1 I O
0 5 10 15 20
Time (sec)

Figure 4. Base displacement histories excited by the El Centro record with different damping ratios
640 H.-C. TSAI AND J. M.KELLY

Table I. Maximum displacements computed by complex mode method and classical

damping approximation +

Damping Equation (17) Equation (27)

ratio ub (in) U l (in) ub (in) u1 (in)

0.1 5.740 0.1248 5.740 0.1182

0.3 3.808 0.1026 3.807 0.0789
0.5 2.67 1 0.1013 2668 0.0556

Isolation damping ratio = 0.1

A

-0.15 1 , , I 1 , 1 , , , 1 I 1 I I I I I 1 I I

0.15 1 Isolation damping ratio = 0.3

-0.15

0.15 1 Isolation damping ratio = 0.5

-0.151 I I I I , I , 1 , , I , I , , I , I , ,

0 5 10 15 20
Time (sec)

Figure 5. Superstructural displacement histories excited by the El Centro record with different damping ratios

with

and

The above equation can be decoupled by classical modes so that it can be solved by the classical mode
method.
Using the same parameters as in Figure 3, the amplitude ratios of the steady-state superstructural response
of equation (24) to the harmonic ground acceleration, I(ul + i i b + u s ) / u s l ,are plotted in Figure 6. Compar-
ing these results with those shown in Figure 3, it can be seen that higher isolation damping produces less
superstructural response when the input frequency is near the second modal frequency. When the input
frequency is as low as the isolation frequency, the amplitude ratio derived from the classical damping
approximation is the same as the exact amplitude ratio shown in Figure 3. At higher input frequencies, the
error created by the classical damping approximation is increased, and the higher the isolation damping,
the larger the error. As shown in Figures 3 and 6, the exact analysis shows increasing transmissibility at the

1 in = 25.4 mm
 HEAVILY DAMPED BASE ISOLATION SYSTEMS 641

~ Damping rotio = 0.1

_____.
Damping ratio = 0.3
--_ Damping ratio = 0.5
.-
\.
Y

Lli

0.01 / I , I , I I , , , , , , , , , , , , , , , , , I
0 4 a 12
Frequency Ratio

Figure 6. Amplitude ratios of superstructural acceleration to ground acceleration based on classical damping approximation

second modal frequency, while with the classical damping approximation the transmissibility decreases with
damping.
The transient response of equation (24) can be determined through perturbation techniques and has been
found to be equal to the summation of the first two terms in equation (17):5

Because the last term in equation (17) does not appear in the solution of the classical damping approxima-
tion, the high-frequency content will not be amplified. This is shown by the calculated time histories of
superstructural response plotted in Figure 7. The parameters of the model and the earthquake record of
excitation used to construct the curves in Figure 7 are the same as those used in Figure 5, but their response
curves are different. High-frequency vibration cannot be seen in Figure 7. The maximum values of ub and u1
calculated using the classical damping approximation are listed in Table I, where the results calculated using
the complex mode method are also listed. This table shows that the error of using the classical damping
approximation to compute u b is negligible. However, in the case with high damping, a large error is produced
in the computation of u l .
These steady-state and transient response calculations show that augmenting isolation damping will
magnify the high-frequency content of the superstructural response but that this is not shown in the results if
one uses the classical damping approximation. The classical damping approximation will create substantial
errors and should not be applied to the calculation of the response of heavily damped isolation systems.

COMPUTER SIMULATION
There are some limitations to the application of the previously derived transient solution using perturbation
techniques. It cannot be applied to systems with more than two degrees of freedom unless the superstructural
deformation is approximated by only the first unisolated mode shape. Additionally, it may create large errors
if the magnitude of isoiation damping exceeds the order of magnitude of For the purpose of studying 4.
more general cases of heavily damped base isolation systems, a computer program that will solve exactly
equations (8) and (9) using the complex mode method has been developed. This computer program follows
the similar algorithms stated in Reference 6 and involves an eigensystem solver for general matrices."
The sensitivity of the seismic response of the base-isolated building to the magnitude of the isolation
damping is examined by the use of this computer program for the five-storey building shown in
Figure 8 where the superstructure is presumed to be of the shear-beam type with uniform storey stiffnesses,
k = 200 kip/in, uniform floor masses, m = 0.02 kips2/in,* and uniform damping ratios, ti= 0.02, for all

* 1 kip/in = 175.1 kN/m; 1 kip s2/in = 175.1 x lo3 kg

642 H.-C. TSAI AND J. M.KELLY

Isolation damping ratio = 0.1

A

-015 I , 1 I , I 1 I , , , , , 1 , , , , , , ,
Isolation damping ratio = 0.3

-0.151 1 I I , I I I , , I , , , , , , t , $ 1

0.15 1 Isolation damping r a t i o = 0.5

-0.15,
0
, I I , ,
5
, I , I

10
, , , , , ,
15
, , , , ,
20
Time (sec)

Figure 7. Superstructural displacement histories excited by the El Centro record based on classical damping approximation

kbl cb

Figure 8. Five-storey model considered in computer simulation

superstructural modes. The frequencies of five superstructural modes are found as 4 5 13-2, 20.8, 26.8 and
30.5 Hz. The base is a lumped mass, mb = 0.02 kips2/in. The isolation system has a lateral stiffness
kb = 1.2 kip/in corresponding to a natural frequency wb = 0 5 Hz. The damping ratio of the isolation system
varies from <b = 0.10 to (b = 090.
In order to show the vibrational characteristics under a general earthquake excitation, an extensive set of
earthquake records was used in the computer simulation. They were the SOOE component of the 1940 El
Centro earthquake, the S69E component of the 1952 Taft earthquake, the N65E component of the 1966
Parkfield earthquake and the S16E component of the 1971 Pacoima Dam earthquake. The peak acceler-
ations were 03489 for the El Centro record, 0-179 g for the Taft record, 0-489g for the Parkfield record and
 HEAVILY DAMPED BASE ISOLATION SYSTEMS 643

-
- El Centro
Taft

2o 1 o-+++o Parkfieid
-+- Pacoirno Dam

I I I I I I I I
0.0 0.2 0.4 0.6 0.8 1 .o
lsolotion Damping Rotio

Figure 9. Variation of maximum base displacement with isolation damping

-
- El Centro

-
Taft
o-+++o Parkfield
Pocoirno D o r n

A
0.0 0.0 0.2 0.4 0.6
Isolation Damping Ratio
0.8 1 .o

Figure 10. Variation of maximum base acceleration with isolation damping

-
- El Centro

- Taft
++++4Parkfield
Pacoimo Dam

a -
+0 7
0.0 I I I I I I I
644 H.-C. TSAI AND J. M. KELLY

021 Isolation dampinq ratio = 0.1

0 2 1 Isolation damping ratio = 0.5

o.2-1 1 Isolation damping ratio = 0.9

- 0 . 2 ( , I I I , I I I I , I , I , I I I I I ,

0 5 10 15 20
Time (sec)

Figure 12. Top floor acceleration histories excited by the El Centro record with different isolation dampings

1.170 g for the Pacoima Dam record. The maximum responses of the base displacement relative to the
ground, the absolute base acceleration, and the absolute top floor acceleration with varying isolation
dampings and earthquake inputs are plotted in Figures 9, 10 and 11, respectively. Figure 9 shows that
isolation damping can reduce efficiently the base displacement. Figures 10 and 11 reveal that when the
damping ratio is small, increasing the isolation damping can reduce the acceleration response, but if
the damping ratio is more than a particular value, which depends on the input earthquake, further increasing
the damping will enhance the acceleration response. The time histories of the top floor acceleration for the
building subjected to the El Centro earthquake are plotted in Figure 12 with tb= 0*1,0*5and 0.9. It can be
seen that the response of the high-damping system has a lot of high-frequency content. The above vibrational
characteristics revealed in the computer simulation coincide with the prediction made using the perturbation
method.

CONCLUSIONS
The seismic response of a heavily damped base isolation system, modelled as linearly visco-elastic material,
has been analysed using the complex mode method. Solutions derived using perturbation techniques for
a two-degree-of-freedom system and the computer simulation for a multiple-degree-of-freedom system reveal
that augmenting the isolation damping can efficiently reduce the deformation of the isolation system, but at
the price of increasing the high-frequency vibrations in the superstructure. Computer simulation indicates
that the enhancement of high-frequency vibrations will make the maximum accelerations of the base and
superstructure in highly damped isolated structures larger than those for systems with less damping. It
follows that the isolation system which has a damping ratio selected to limit the base displacement to the
smallest amount is not always the best isolation system. The damping in the isolation system should be
selected to control both the relative displacement at the base and accelerations of the base and superstructure
to optimal values. It also shows that approximate solutions derived from the use of classical damping and
classical modes of vibration in the seismic analysis of heavily damped base isolation system can be
 HEAVILY DAMPED BASE ISOLATION SYSTEMS 645

substantially in error. The response spectrum method, which is based on the classical mode method and in
which ordinates always decrease as the damping increases, is not a suitable technique for predicting the
maximum acceleration response of a base-isolated building with a heavily damped isolation system.

REFERENCES
1. J. M. Kelly, ‘Aseismic base isolation: review and bibliography’, Sod dyn. earthquake eng. 8, 202-216 (1986).
2. J. M. Kelly, ‘Base isolation in Japan, I988’, Report No. UCE/EERC-88/20, Earthquake Engineering Res‘eirch Center, University of
California, Berkeley, 1988.
3. R. W. Clough and J. Penzien, Dynamics of Structures, McGraw-Hill, New York, 1975.
4. R. W. Clough and S. Mojtahedi, ‘Earthquake analysis considering non-proportional damping’, Earthquake eng. struct. dyn. 4,
489-496 (1976).
5. H.-C. Tsai and J. M. Kelly, “on-classical damping in dynamic analysis of base-isolated structures with internal equipment’,
Earthquake eng. struct. dyn. 16, 29-43 (1988).
6. A. S.Veletsos and C. E. Ventura, ‘Modal analysis of non-classically damped linear system’, Earthquake eng. struct. dyn. 14,217-243
(1986).
7. A. G. Tarics, D. Way and J. M. Kelly, ‘The implementation of base isolation for the Foothill Communities Law and Justice Center’,
A Report to the National Science Foundation and the County of San Bernardino, Reid and Tarics Associates, San Francisco, 1984.
8. R. R. Craig, Jr., ‘Methods of component mode synthesis’, Shock uib. digest 9(11), 3-10 (1977).
9. H.-C. Tsai and J. M. Kelly, ‘Seismicresponse of the superstructure and attached equipment in a base-isolated building’, Earthquake
eng. struct. dyn. 18, 551-564 (1989).
10. B. T. Smith et al., Marrix Eigensystem Routines-EISPACK Guide, Lecture notes in Computer Science, Vol. 6, Springer, New York,
1976.