Linear Time History Analysis 
of MDOF Structure by Mode 
Superposition Method  
using Newmark’s β Method 
 
 
 
Carleton University  
© Mostafa Tazarv 
Graduate Student 
Version 1.0

 
 
Modal Time History Analysis                                                                                                        © Mostafa Tazarv 

Introduction
Structural dynamic is a mandatory graduate level course for structural/earthquake engineering
student all around the world. One of the most important topics of this course is to solve modal
equations of motion of a Multi Degree of Freedom (MDOF) structure by a numerical method
such as Nemark’s β  method and Wilson-Ѳ method. Modal response should be assembled to
obtain each DOF response. Applied load can be a base excitation earthquake or time-dependent
loads on stories.
Here, I will introduce a MATLAB function which can do a time history analysis of an n-DOF
structure with a certain Number of Modes (nom). Then, I will show how to use this function with
two examples one excited by half-cycle harmonic on two stories and another excited by Elcentro
earthquake.

Time History Response by Newmark Method: NM

I tried to write a self-explanatory m-file. Therefore, I just copy the important part of the function
called “NM” in this section. A new feature is to give you the option to specify the number of
modes you want to consider in mode superposition analysis. For example, there is a 100-DOF
structure (the size of mass and stiffness matrixes are 100 100). However, you want to do the
modal analysis only for first 10 modes not all the modes which is very common in real situation.
In this function to solve equation of motions for different modes, Newmark Linear Method has
been used. We can decompose time-dependent applied force, . , into two
components where F is spatial distribution of load on DOFs and f(t) is time-variant component of
load. By modifying inputs F (a vector) and f(t), you can analyze the structure for either
earthquake (base-seismic-excitation) or time-dependent load applied to different stories. I will
show it in examples later. That's your responsibility to organize eigenvectors (Φ) and
eigenvaluses ( in which frequencies are sorted from smallest to greatest ( f1< f2< f3<…). If
you want to use MATLAB built-in function to find Φ (phi) and (omega2), you should be
careful about abovementioned arrangement.
Preferred unit is SI (N, kg, s). Specifically for this function, stiffness (K) is in N/m, mass (M) is
in kg, force (F) is in N, Gravitational Constant (g) is 9.810 m/s2 and Ground Acceleration (Ag)
should be normalized to g. However, you are free to choose your unit.

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Modal Time History Analysis                                                                                                        © Mostafa Tazarv 

function [disp,EF]=NM(n,nom,dt,F,ft,M,K,zet,omega2,phi)
 
% INPUTS:
% n: Number of Stories or generally, Number fo DOFs
% nom: Number of Modes that you want to consider in analysis; (nom <= n)
% dt: Time Interval (Sampling Time) of force or earthquake
% F: Spatial Load Distribution Vector; in the case of base seismic
% exitation F=-g*M*[1 1 1 ... 1]'; (A vector)
% ft: Time-Variant Component of Load (A Vector); in the
% case of base seismic exitation ft=Ag (Ground Acceleration in g)
% M: Mass Matrix of Stories (n x n)
% K: Stiffness Matrix of Stories (n x n)
% zet: Damping Ratio in percent (%); e.g. 5
% omega2: Eigen-Values Matrix (nom x nom); e.g. [phi,omega2]=eig(K,M);
% phi: Eigen-Vectors (nom x nom); e.g. [phi,omega2]=eig(K,M);

% OUTPUTS (Story Response):

% disp: Displacement Time History of Stories (or DOFs)
% EF: Elastic Force Time History of Stories (or DOFs)

 
As long as the size of stiffness matrix and mass matrix are equal, there will be no restriction on this 
function.  
 
 
 
 
 
 
 
 

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Modal Time History Analysis                                                                                                        © Mostafa Tazarv 

Example 1: Time-Dependent Load on a Shear Building with 8-DOF

It is desired to analyze a shear building detailed in Fig. 1 with Mode Superposition Method only
with first 2 modes in an undamped condition (zet=0). Load considered for this example is time-
dependent half-sine impulse force on two stories (Figure 3). For a shear frame, it is easy to
derive stiffness and mass matrixes which are shown as follows:

⎡k1 + k 2 − k2 0 0⎤ ⎡m1 0 0 0⎤
⎢ −k k 2 + k3 − k3 0⎥ ⎥ ⎢0 m2 0 0 ⎥⎥
K=⎢ 2
, M =⎢
⎢ 0 − k3 ... ... ⎥ ⎢0 0 ... ... ⎥
⎢ ⎥ ⎢ ⎥
⎣ 0 0 ... kn ⎦ ⎣0 0 ... mn ⎦

⎡ 2.0 - 1.0 0 0 0 0 0 0⎤
⎢ - 1.0 1.5 - 0.5 0 0 0 0 0 ⎥⎥
⎢
⎢ 0 - 0.50 1.0 - 0.5 0 0 0 0⎥
⎢ ⎥
0 0 - 0.5 1.0 - 0.5 0 0 0⎥
K = 109 × ⎢ ( N / m)
⎢ 0 0 0 - 0.5 1.0 - 0.5 0 0⎥
⎢ ⎥
⎢ 0 0 0 0 - 0.5 1.0 - 0.5 0⎥
⎢ 0 0 0 0 0 - 0.5 1.0 - 0.5 ⎥
⎢ ⎥
Figure 1- Shear Building
⎣⎢ 0 0 0 0 0 0 - 0.5 0.5⎦⎥

⎡ 8 0 0 0 0 0 0 0⎤
⎢ 0 8 0 0 0 0 0 0 ⎥⎥
⎢
⎢ 0 0 8 0 0 0 0 0⎥
⎢ ⎥
0 0 0 8 0 0 0 0⎥
M = 10 × ⎢
6
(kg = N .s 2 / m)  
⎢ 0 0 0 0 8 0 0 0 ⎥
⎢ ⎥
⎢ 0 0 0 0 0 4 0 0⎥
⎢ 0 0 0 0 0 0 4 0⎥
⎢ ⎥
⎣⎢ 0 0 0 0 0 0 0 4⎦⎥

Derived mass and stiffness matrixes can be used as inputs of eigen-problem and modal analysis.
For this section, only 2 modes are desired. Then, eigenvalues and eigenvectors have been
calculated. Figure 2 illustrates modal shape of first two modes normalized to mass.

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Modal Time History Analysis                                                                                                        © Mostafa Tazarv 

Figure 2- Mode Shapes of First Two Modes of Shear Building (Normalized to Mass)

⎡ - 0.0264 - 0.0727 ⎤
⎢ - 0.0518 - 0.1280 ⎥⎥
⎢
⎢ - 0.0994 - 0.1776 ⎥
⎢ ⎥
- 0.1403 - 0.1423 ⎥
Φ = 10 × ⎢
−3
⎢ - 0.1720 - 0.0391 ⎥
⎢ ⎥
⎢ - 0.1923 0.0828 ⎥
⎢ - 0.2062 0.1849 ⎥
⎢ ⎥
⎣⎢ - 0.2132 0.2429 ⎦⎥   
4.1408 0
0 29.8429

NOTE: should be a square matrix in the size of nom   nom

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Modal Tim
me History An
nalysis                                                                                                        © Mostafa Taazarv 

As meentioned before, t
to solve equation of mootion of each mode,
m
Y&&n + 2ξ nωnY&n + ω n Yn = ϕ n .F . f (t ) , load shoulld be in the form of
2 T
. . Here, is a
half-sine wave with thet period of 4.93  a
and 0  0  0  75  1
100  0  0  0 (kN). Thiss load
is illustraated in Figu
ure 3. All reequired dataa has been provided
p so far to do modal
m analyssis as
follows:
function [disp
p,EF]=NM(
(8,2,0.00
05,F,ft,M
M,K,0,ome
ega2,phi)
)

Displacemment and elastic force time

t history of some stoories are shoown in Figurres 4 and 5. Note
that displacement an
nd elastic forrce responsee will be in m and N, reespectively. However, I have
shown thhem in mm and
a kN.

Figure 3-
3 Decomposin
ng of Loads in
nto Two Comp
ponents (dt for f(t) is 0.005 sec)
s

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Modal Time History Analysis                                                                                                        © Mostafa Tazarv 

Figure 4- Displacement Time history of Some Stories considering Two Modes

Figure 5- Elastic Force Time history of Some Stories considering Two Modes

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Modal Time History Analysis                                                                                                        © Mostafa Tazarv 

Example 2: A MDOF Frame Structure under Elcentro Earthquake

A frame structure is shown in Figure 6. It is desired to find lateral displacement and elastic force
time history of node 3 (in X direction) under Elcentro earthquake N-S component (ground
motion record is available online: http://www.vibrationdata.com/elcentro.htm) considering first 3
modes with 5% damping ratio.
Section area, second moment of inertia and elastic modulus of all elements are same which are
650 mm2, 0.17 106 mm4 and 200 103 MPa, respectively. Element self-weight and rotational
mass of nodes are neglected. Lumped mass matrix was derived by applied load in the dimension
of 8 8 (gravity and lateral direction) (Table 1). Global stiffness matrix will be 12 12 (12-DOF)
for this 2D frame. By means of static condensation, we can properly eliminate mass-less DOFs
in stiffness matrix which is summarized in Table 2.

Figure 6- Frame Shape and Loading

Table 1- Mass Matrix 8 8 (Unit: kg)

Node 2 Node 3 Node 4 Node 5
Ux(r1) Uy(r2) Ux(r3) Uy(r4) Ux(r5) Uy(r6) Ux(r7) Uy(r8)
122.3242 0 0 0 0 0 0 0
0 122.3242 0 0 0 0 0 0
0 0 122.324159 0 0 0 0 0
0 0 0 122.3242 0 0 0 0
0 0 0 0 122.3242 0 0 0
0 0 0 0 0 122.3242 0 0
0 0 0 0 0 0 122.3242 0
0 0 0 0 0 0 0 122.3242

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Modal Time History Analysis                                                                                                        © Mostafa Tazarv 

Table 2- Condensed Stiffness Matrix without P-Δ Effect 8 8 (Unit: N, mm)

Node 2 Node 3 Node 4 Node 5
Ux(r1) Uy(r2) Ux(r3) Uy(r4) Ux(r5) Uy(r6) Ux(r7) Uy(r8)
15333.84 15317.5 -15323.8 -15314.9 -0.32002 -2.90886 0.556449 0.32002
15317.5 58655.22 -15319.4 -15323.4 0.184047 1.672916 -0.32002 -0.18405
-15323.8 -15319.4 58655.22 15317.92 -43333.1 1.672916 -0.32002 -0.18405
-15314.9 -15323.4 15317.92 15329.35 -1.67292 -7.65064 2.90886 1.672916
-0.32002 0.184047 -43333.1 -1.67292 58655.22 -15317.9 -15323.8 15319.41
-2.90886 1.672916 1.672916 -7.65064 -15317.9 15329.35 15314.92 -15323.4
0.556449 -0.32002 -0.32002 2.90886 -15323.8 15314.92 15333.84 -15317.5
0.32002 -0.18405 -0.18405 1.672916 15319.41 -15323.4 -15317.5 58655.22
Note: Change the UNIT to N/m

Table 3- Mode Shape (Φ)

Mode1 Mode2 Mode3 Mode4 Mode5 Mode6 Mode7 Mode8
0.723607 -30.639 -3.42432 4.09675 -1.00044 0.484086 -1.00004 -0.25215

4.35E-05 -0.00632 -0.00081 -2.6451 1.366837 1.877068 -2.19516 -0.40269

1 1 1 1 1 1 1 1

-0.27623 -31.6572 -4.4256 -4.09384 0.999798 -0.48417 1.000152 0.252098

1 0.998295 1.000088 -0.99981 1.000012 -1 1.000012 -1

0.334075 -32.4779 4.254245 -4.09407 -0.99977 -0.48415 -1.00015 0.252112

0.665804 33.45968 -3.25315 -4.09688 -1.00031 -0.4841 -1.00001 0.252139

-3.02E-05 -0.00607 0.000737 -2.6453 -1.36677 1.877095 2.195148 -0.40269

Note: Phi is normalized to be unity in the lateral direction of node 3

⎡ 19.586 ⎤
⎢ 0 79.014 ⎥
⎢ Sym. ⎥
⎢ 0 0 204.44 ⎥
⎢    ⎥
⎢ 0 0 0 1.3905e + 005 ⎥
⎢ ⎥ (rad/s)
2
0 0 0 0 2.046e + 005
⎢ ⎥
⎢ 0 0 0 0 0 4.7739e + 005 ⎥
⎢ 0 0 0 0 0 0 6.5069e + 005 ⎥
⎢ ⎥
⎣⎢ 0 0 0 0 0 0 0 9.4734e + 005⎦⎥

Dynamic properties are shown above. First 4 mode shapes are also plotted in figure 7. We
will use only first 3 mode shapes and natural frequencies since we want to use only these
modes.

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Modal Time History Analysis                                                                                                        © Mostafa Tazarv 

Figure 7- Mode Shape of first 4 modes

In the case of earthquake, . . 1 1 1 … where g=9.81m/s2. Also,

where is ground acceleration normalized to g. is plotted in figure 8.
. . 1 1 1 … 1200 1  1  1  1  1  1  1  1

Figure 8- Ground Acceleration of Elcentro N-S Component in g (f(t))

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Modal Time History Analysis                                                                                                        © Mostafa Tazarv 

Recall NM Function:
function [disp,EF]=NM(8,3,0.02,F,ft,M,K,5,omega2,phi)

Responses are plotted in Figure 9 for node 3 in X-direction with 5% damping ratio.

Figure 9- Response of Node 3 of Frame Structure in X-Dir. to Elcentro N-S Component

plot(elcentro(:,1),disp(:,3)*1000); % Change unit from m to mm

plot(elcentro(:,1),EF(:,3));

Reference:
1. Humar J. L., “Dynamic of Structures”, Prentice Hall, 1990
2. Chopra A., “Dynamic of Structures”, Prentice Hall, 1995
3. MATLAB, The MathWorks Inc., 2009

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