The Hysteresis Bouc-Wen Model - A Survey

Arch Comput Methods Eng (2009) 16: 161188
DOI 10.1007/s11831-009-9031-8
ORI GI NAL PAPER
The Hysteresis Bouc-Wen Model, a Survey
Mohammed Ismail Fayal Ikhouane Jos Rodellar
Received: 14 November 2008 / Accepted: 14 December 2008 / Published online: 20 February 2009
CIMNE, Barcelona, Spain 2009
Abstract Structural systems often show nonlinear behav-
ior under severe excitations generated by natural hazards. In
that condition, the restoring force becomes highly nonlinear
showing signicant hysteresis. The hereditary nature of this
nonlinear restoring force indicates that the force cannot be
described as a function of the instantaneous displacement
and velocity. Accordingly, many hysteretic restoring force
models were developed to include the time dependent nature
using a set of differential equations. This survey contains
a review of the past, recent developments and implementa-
tions of the Bouc-Wen model which is used extensively in
modeling the hysteresis phenomenon in the dynamically ex-
cited nonlinear structures.
1 Introduction
This paper deals with the analysis, modeling and identica-
tion of a special class of systems with hysteresis. This non-
linear behavior is encountered in a wide variety of processes
in which the input-output dynamic relations between vari-
ables involve memory effects. Examples are found in bi-
M. Ismail J. Rodellar ()
Dept. of Applied Mathematics III, School of Civil Engineering,
Technical University of Catalonia, Campus Nord, Module C-2,
08034 Barcelona, Spain
e-mail: jose.rodellar@upc.edu
M. Ismail
e-mail: mohammed.ismail@upc.edu
F. Ikhouane
Dept. of Applied Mathematics III, Technical School of Industrial
Engineering of Barcelona, Technical University of Catalonia,
Comte dUrgell, 187, 08036 Barcelona, Spain
e-mail: faycal.ikhouane@upc.edu
ology, optics, electronics, ferroelectricity, magnetism, me-
chanics, structures, among other areas. In mechanical and
structural systems, hysteresis appears as a natural mecha-
nism of materials to supply restoring forces against move-
ments and dissipate energy. In these systems, hysteresis
refers to the memory nature of inelastic behavior where the
restoring force depends not only on the instantaneous defor-
mation, but also on the history of the deformation.
The detailed modeling of these systems using the laws
of Physics is an arduous task, and the obtained models are
often too complex to be used in practical applications in-
volving characterization of systems, identication or con-
trol. For this reason, alternative models of these complex
systems have been proposed. These models do not come, in
general, from the detailed analysis of the physical behavior
of the systems with hysteresis. Instead, they combine some
physical understanding of the hysteretic system along with
some kind of black-box modeling. For this reason, some au-
thors have called these models semi-physical.
Within this context, a hysteretic semi-physical model was
proposed initially by Bouc early in 1971 and subsequently
generalized by Wen in 1976. Since then, it was known as the
Bouc-Wen model and has been extensively used in the cur-
rent literature to describe mathematically components and
devices with hysteretic behaviors, particularly within the ar-
eas of civil and mechanical engineering. The model essen-
tially consists in a rst-order non-linear differential equation
that relates the input displacement to the output restoring
force in a hysteretic way. By choosing a set of parameters
appropriately, it is possible to accommodate the response of
the model to the real hysteresis loops. This is why the main
efforts reported in the literature have been devoted to the
tuning of the parameters for specic applications.
The starting point of the so-called Bouc-Wen model is
the early paper by [38], where a functional that describes
162 M. Ismail et al.
Fig. 1 Graph force versus displacement for a hysteresis functional
the hysteresis phenomenon was proposed. Consider Fig. 1,
where F is a force and x a displacement. Four values of F
correspond to the single point x = x
0
, which means that F
is not a function. If we consider that x is a function of time,
then the value of the force at the instant time t will depend
not only on the value of the displacement x at the time t ,
but also on the past values of x. The following simplifying
assumption is made in [38].
Assumption 1 The graph of Fig. 1 remains the same for all
increasing function x() between 0 and x
1
, for all decreasing
function x() between the values x
1
and x
2
, etc.
Assumption 1 is what, in the current literature, is called
the rate-independent property [318]. To precise the form of
the functional F, [38] elaborates on previous works to pro-
pose the following form:
dF
dt
=g
_
x, F, sign
_
dx
dt
__
dx
dt
. (1)
Consider the equation
d
2
x
dt
2
+F(t ) =p(t ) (2)
for some given input p(t ) and initial conditions
dx
dt
(t
0
), x(t
0
) and F(t
0
) (3)
at the initial time instant t
0
. Equations (1) and (2) describe
completely a hysteretic oscillator.
The paper [38] notes that it is difcult to give explicitly
the solution of (1) due to the nonlinearity of the function g.
For this reason, the author proposes the use of a variant of
Fig. 2 Evolution of the Bouc-Wen model literature
the Stieltjes integral to dene the functional F:
F(t ) =
2
x(t ) +
_
t
F
_
V
t
s
_
dx(s), (4)
where [, +) is the time instant after which the
displacement and force are dened. The term V
t
s
is the to-
tal variation of x in the time interval [s, t ]. The function F
is chosen in such a way that it satises some mathemati-
cal properties compatible with the hysteresis property. The
following is an example of this choice given in [38] so that
these mathematical properties are satised:
F(u) =
N
i=1
A
i
e
i
u
, with
i
>0. (5)
Equations (2)(5) can then be written in the form
d
2
x
dt
2
+
2
x +
N
i=1
Z
i
=p(t ), (6)
dZ
i
dt
+
i
dx
dt
Z
i
A
i
dx
dt
= 0; i = 1, . . . , N. (7)
Equations (6)(7) are what is now known as the Bouc
model. The derivation of these equations is detailed in [38].
The objective here is not to enter in these details, but only
give a short idea on the origin of the model.
Equation (7) has been extended in [325] to describe
restoring forces with hysteresis in the following form:
z = | x|z
n
x|z
n
| +A x for n odd, (8)
z = | x|z
n1
|z| xz
n
+A x for n even. (9)
Equations (8)(9) constitute the earliest version of what
is called now the Bouc-Wen model. This paper presents an
overviewof the literature related to this model. It can be seen
in Fig. 2 that the last few years have witnessed an increasing
interest to this model with a book dedicated exclusively to
the Bouc-Wen model [140]. This literature encompasses a
wide range of issues ranging from identication to model-
ing, control, analysis, etc. These issues are treated in detail
in the following sections.
The Hysteresis Bouc-Wen Model, a Survey 163
2 Physical and Mathematical Consistency
of the Bouc-Wen Model
In the current literature, the Bouc-Wen model is mostly used
within the following black-box approach: given a set of ex-
perimental input-output data, how to adjust the Bouc-Wen
model parameters so that the output of the model matches
the experimental data? The use of systemidentication tech-
niques is one practical way to perform this task. Once an
identication method has been applied to tune the Bouc-
Wen model parameters, the resulting model is considered
as a good approximation of the true hysteresis when the
error between the experimental data and the output of the
model is small enough. Then this model is used to study the
behavior of the true hysteresis under different excitations.
By doing this, it is important to consider the following
remark. It may happen that a Bouc-Wen model presents a
good matching with the experimental real data for a spe-
cic input, but does not necessarily keep signicant physical
properties which are inherent to the real data, independently
of the exciting input. In this section we draw the attention
to this issue by considering physical properties like stability,
passivity, thermodynamic consistency etc.
On the other hand, the Bouc-Wen model is a nonlinear
differential equation, and has to have some general math-
ematic properties to be used properly. We consider in this
section the existence and uniqueness of the solution of the
model, along with the bijective relationship between the pa-
rameters and the input/output behavior.
2.1 Physical Consistency of the Bouc-Wen Model
The following properties have been considered in the litera-
ture:
Bounded input-bounded output (BIBO) stability
Consistency with the asymptotic motion of physical sys-
tems
Passivity
Thermodynamic admissibility
Accordance with Drucker and Iliushin stability postu-
lates
Consistency with the hysteresis property.
2.1.1 BIBO Stability
The BIBO stability property of the Bouc-Wen model has
been formulated in [144] as follows: Let us conceptualize
a nonlinear hysteretic behavior as a map x(t )
s
(x)(t ),
where x represents the time history of an input variable and
s
(x) describes the time history of the hysteretic output
variable. For any bounded input x, the output of the true
hysteresis
s
(x) is bounded. This bounded BIBO stability
property stems from the fact that we are dealing with me-
chanical and structural systems that are stable in open loop.
The Bouc-Wen model that approximates the true hystere-
sis
s
(x) is
BW
(x)(t ) =kx(t ) +(1 )Dkz(t ), (10)
z =D
1
_
A x | x| |z|
n1
z x|z|
n
_
(11)
where z denotes the time derivative, n > 1, D > 0, k > 0,
0 < < 1 and + = 0 (the limit cases n = 1, = 0,
= 1, + = 0 are treated separately in [144]).
This model is BIBO stable if and only if the following set
of initial conditions z(0) is nonempty:
= {z(0) R such that
BW
is BIBO stable for all C
1
input signal x(t ) with xed values of the parameters
A, , , n}. (12)
The following is proved in [144].
Theorem 1 Let x(t ), t [0, ) be a C
1
input signal and
z
0
n
_
A
+
and z
1
n
_
A

. (13)
Then, Table 1 holds.
It is shown in [144] that class V corresponds to a linear
behavior so that it is irrelevant for the modeling of hysteresis
behavior.
2.1.2 Consistency with the Asymptotic Motion of Physical
Systems
Reference [144] considers a structural base-isolation device
modeled as a SDOF system with mass m > 0 and viscous
damping c > 0 plus a restoring force characterizing the
hysteretic behavior of the hysteretic material. The free mo-
tion of the system is described by the second order differen-
tial equation
m x +c x +(x)(t ) = 0 (14)
with initial conditions x(0) and x(0), and the restoring
force is assumed to be described by the Bouc-Wen model
(10)(11). The following is proved in [144].
Theorem 2 For every initial conditions x(0) R, x(0) R
and z(0) =, the following holds:
(a) For all classes IIV in Table 1, the signals x(t ), x(t ) and
z(t ) are bounded and C
1
.
Table 1 Classication of BIBO
stable Bouc-Wen models
Case Upper Bound on |z(t )| Class
A>0 + >0 and 0 R max(|z(0)|, z
0
) I
<0 and 0 [z
1
, z
1
] max(|z(0)|, z
0
) II
A<0 >0 and + 0 R max(|z(0)|, z
0
) III
+ <0 and 0 [z
0
, z
0
] max(|z(0)|, z
0
) IV
A= 0 + >0 and 0 R |z(0)| V
All Other Classes
(b) Assume that the Bouc-Wen model belongs to the classes
I or II, then there exist constants x
and z
which de-
pend on the Bouc-Wen model parameters (, D, k, A, ,
, n), the system parameters (m, c) and the initial con-
ditions (x(0), x(0) and z(0)), and there exists a con-
stant c that depends on the parameters m, k, A, , ,
such that for all c c, we have:
lim
t
x(t ) =x
, (15)
lim
t
z(t ) =z
, (16)
x
+(1 )Dz
= 0. (17)
Furthermore, we have:
x L
1
_
[0, )
_
and lim
t
x(t ) = 0. (18)
Accordingly, Theorem 2 shows that, for the classes I
and II, the displacement x goes to a constant value asymptot-
ically and that the velocity x goes to zero. This is compatible
with experimental observations for base-isolation devices
which means that both classes are good candidates for the
description of the real physical behavior of a base-isolation
system. Based on numerical simulations, classes III and IV
are shown not to behave in accordance with experimental
observations.
2.1.3 Passivity
Passivity is related to the energy dissipation and means that
the system does not generate energy. In [144], the model
(10)(11) is written as:
x = u,
z = D
1
_
Au |u||z|
n1
z u|z|
n
_
, (19)
y = kx +(1 )Dkz
where u is the input of the model and y is its output. Denot-
ing
l
1
=
(1 )D
2
k
2A
>0, (20)
l
2
=
k
2
>0, (21)
W(x, z) =l
1
z
2
+l
2
z
2
(22)
it is shown that the Bouc-Wen model is passive with respect
to the storage function W.
2.1.4 Thermodynamic Admissibility
The thermodynamic admissibility is investigated in [99] us-
ing the endochronic theory (a theory of viscoplasticity with-
out a yield surface, proposed in [313]). The Bouc-Wen type
models that are considered are univariate and tensorial. The
Bouc model [38] is univariate and is dened as
w(t ) =A
0
u(t ) +z(t ), (23)
z(t ) =
_
(t )
0
_
(t )
_
du
d
(24)
where =((t )) is the hereditary kernel and A
0
0. The
input u is a relative displacement between two structural el-
ements, while the output w is a structural restoring force.
The time function is positive and non-decreasing which
directly depends on the strain and/or the stress tensors, and
it is named internal or intrinsic time. One of the denitions
of proposed by Bouc is the total variation of u:
(t ) =
_
t
0
du
d
d, or, equivalently,
d = |du|, with (0) = 0. (25)
In this case (24) becomes
dz =Adu z|du|. (26)
A more general formulation of (26) was also proposed
in [37]:
dz =Adu z|du| |z|du with < (27)
while [325] suggested a further modication, introducing
the positive exponent n:
dz =Adu ( sign(z du) + ) |z|
n
du. (28)
Reference [18] introduced the stiffness and strength
degradation effects in the Bouc-Wen model (28). Only the
strength degradation case is considered in [99]:
dz =Adu ( sign(z du) + ) |z|
n
du (29)
where is a positive and increasing function of the energy
dissipated by the system. A tensorial generalization of (28)
is given in [160] for isotropic materials with elastic hydro-
static behavior:
d
=A
0
d
+z, (30)
dz =Ad
d
zz
n2
|z : d
d
| zz
n2
(z : d
d
) (31)
where
d
and
d
are the deviatoric part of the small strain
tensor and of the Cauchy stress tensor, respectively; z is the
tensor dening the hysteretic part of the stress, while is
the standard L
2
-norm.
The following has been proved in [99].
Theorem 3 The Bouc-Wen models of (23)(31) fulll the
second principle of Thermodynamics if and only if the fol-
lowing holds:
n >0, (32)
>0, (33)
. (34)
2.1.5 Accordance with Drucker and Iliushin Stability
Postulates
Druckers postulate [27] implies that the hysteresis system
should not produce a negative energy dissipation when the
unloading-reloading process occurs without load reversal.
For the Bouc-Wen model, it has been noted in many ref-
erences that this may not be the case, although the effect of
this violation on the expected results may be minor [48, 131,
272, 306, 328].
An attempt to reduce the violation is presented in [47] by
modifying the Bouc-Wen model. On the other hand, [49, 50]
show that for n = 1, + >0 and 0 ( being posi-
tive by assumption), the Bouc-Wen model veries Druckers
postulate. The more general result for n arbitrary is obtained
in Theorem 3 of [99], as the thermodynamic consistency for
the Bouc-Wen model implies that it veries Druckers pos-
tulate.
2.1.6 Consistency with the Hysteresis Property
It is shown in [136, 138] that, to be consistent with the hys-
teresis property, the Bouc-Wen model (10)(11) has to ver-
ify
max
t 0
(x(t ))
(1 )Dz
0
(35)
where max(x(t )) is the maximal value of the input x(t ) for
t 0. The hysteresis property means that the output depends
on the sign of the derivative of the input.
2.1.7 Conclusion
As a conclusion of the above results, for univariate Bouc-
Wen models, the class I of Table 1 is BIBO stable, consistent
with the motion of physical systems, passive, and consistent
with the second law of Thermodynamics. Furthermore, con-
dition (35) is needed for the consistency with the hystere-
sis property. For the multivariate Bouc-Wen model, the only
consistency result available in the literature is that of [99]
stated in Theorem 3.
2.2 Mathematical Consistency of the Bouc-Wen Model
This section presents the results available in the literature
with regard to
1. The existence and uniqueness of the solution of the Bouc-
Wen model.
2. The uniqueness of the description of the Bouc-Wen
model.
2.2.1 Existence and Uniqueness of Solutions
It is shown in [144] that the differential equations (10)(11)
has a unique solution if n 1.
2.2.2 Uniqueness of the Description
It is shown in [137] that there exists an innite number of
different sets of Bouc-Wen model parameters that lead to the
same input/output behavior of the model. This means that
some parameters of the model are redundant. To eliminate
this redundancy, a normalized form of the Bouc-Wen model
is introduced in [136, 138] by using the transformation
w(t ) =
z(t )
z
0
(36)
so that the model (10)(11) can be written in the form
BW
(x)(t ) =
x
x(t ) +
w
w(t ), (37)
w(t ) =
_
x | x(t )| |w(t )|
n1
w(t )
+( 1) x(t )|w(t )|
n
_
(38)
where
=
A
Dz
0
>0,
=

+
1
2
,
x
=k >0,
w
=(1 )Dkz
0
>0.
(39)
This form is dened only for the class I as it is con-
sistent with the physical properties considered before.
The following inequality is also obtained: max
t 0
w(t ) =
max(|w(0)|, 1).
2.2.3 Conclusion
The mathematical and physical consistency conditions show
that the Bouc-Wen model has to be used under the nor-
malized form (37)(38), along with the inequalities n 1,
> 0, 1/2,
x
> 0,
w
> 0 and max
t 0
(x(t ))

w
x
. In
this case, we also have max
t 0
w(t ) = max(|w(0)|, 1).
3 Description of the Hysteresis Loop
When the input displacement is periodic with a loading-
unloading shape, it is observed by means of numerical sim-
ulations that the output Bouc-Wen restoring force is also pe-
riodic asymptotically with the same period as the input. This
fact has been demonstrated analytically only recently due to
the nonlinearity of the model [137]. The hysteresis loop is
the cycle obtained asymptotically when the hysteresis out-
put is plotted versus the displacement input. Two types of
problems have been discussed in the literature:
Consider that the input is a periodic displacement and the
output is the Bouc-Wen restoring force.
Consider that the input is an external periodic force, and
the output is the displacement of a second-order system
that includes a Bouc-Wen hysteresis.
For the rst case, the periodic input displacement sig-
nal with a loading-unloading shape is dened formally in
[137]: x(t ) is continuous over the time interval [0, ) and
is periodic with a period T > 0. Furthermore, there exists a
scalar T
+
with 0 <T
+
<T such that x(t ) is a C
1
increasing
function of time on the interval (0, T
+
) and a C
1
decreas-
ing function of time on the interval (T
+
, T ). The quantities
X
min
=x(0) and X
max
=x(T
+
) >X
min
denote the minimal
and the maximal values of the input signal, respectively. The
signal x(t ) is called wave T -periodic and it is illustrated in
Fig. 3.
The description of the hysteresis loop uses the following
instrumental functions:
,n
() =
_

0
du
1 +|u|
n1
u +( 1)|u|
n
(40)
is well dened, C
and strictly increasing on (1, 1], so

that it is invertible, with inverse
,n
.
+
,n
() =
_

0
du
1 |u|
n1
u +( 1)|u|
n
(41)
is well dened, C
and strictly increasing on [1, 1), so

that it is invertible, with inverse
+
,n
.
,n
() =
,n
() +
,n
()
+
(42)
is well dened, C
and strictly increasing on (1, 1), so

that it is invertible with inverse
,n
.
The analytical description of the hysteresis loop is given
in the following.
Theorem 4 Dene the functions
m
and
m
for any non-
negative integer m as
m
() =w(mT +) for [0, T ], (43)
m
() =
x
x() +
w
m
() for [0, T ]. (44)
Then, the sequence of functions {
m
}
m0
(resp. {
m
}
m0
)
converges uniformly on the interval [0, T ] to a continuous
function

BW
(resp. w) dened as:
BW
() =
x
x() +
w
w() for [0, T ], (45)
w() =
+
,n
_
+
,n
_
,n
((X
max
X
min
))
_
+(x() X
min
)) for [0, T
+
], (46)
Fig. 3 The T -periodic input
signals
w() =
+
,n
_
+
,n
_
,n
((X
max
X
min
))
_
(x() X
max
)) for [T
+
, T ]. (47)
Dene the time function

BW
as

BW
(t ) =

BW
()
where the time t [0, ) is written as t = mT + for all
integers m = 0, 1, 2, . . . and all real numbers 0 < T .
Theorem 4 means that the time function hysteretic output
BW
(x)(t ) of the Bouc-Wen model approaches asymptot-
ically the T -periodic function

BW
(t ). The limit cycle is
the graph (x(),

BW
()) parameterized by the variable
0 T . Equations (45) and (46) correspond to the load-
ing, that is to an increasing input x() with 0 T
+
,
while (45) and (47) correspond to the unloading, that is to a
decreasing input x() with T
+
T .
In [241] it is assumed that the exponent n = 1. The hys-
teretic part of system is then governed by
z =A x
_
| x|z + x|z|
_
. (48)
The input signal x(t ) is assumed wave T -periodic and
the output is also assumed asymptotically wave T -periodic.
Depending on the signs of velocity x and hysteretic restoring
force z, the hysteretic loop is divided into four regions. In
each region, (48) is integrated leading to
z =
AB
1
e
(

)x

(

= 0),
Ax +D
1
(

= 0),
for x 0, z 0,
(49)
z =
AB
2
e
(

+ )x
+
(

+ = 0),
Ax +D
2
(

+ = 0),
for x 0, z 0,
(50)
z =
AB
3
e
(

)x

(

= 0),
Ax +D
3
(

= 0),
for x 0, z 0, (51)
z =
AB
4
e
(

+ )x
+
(

+ = 0),
Ax +D
4
(

+ = 0),
for x 0, z 0, (52)
where B
i
and D
i
are integration constants. To obtain the
values of these constants, it is assumed that the hysteresis
loop is continuous, and the continuity condition leads to four
equations for the integration constants. Due to the nonlinear-
ity of the equations, these constants are not determined ex-
actly. Instead, it is assumed that

= and = where
is a small positive constant. An expansion in power se-
ries of allows to obtain an approximate description of the
hysteresis loop by neglecting the
3
and higher powers.
In [88] (11) is integrated for D = 1 and n = 2. It is
claimed that
z =
AB
B
tan
_
AB(x +c)
_
for B <0, (53)
z =
AB
B
tanh
_
AB(x +c)
_
for B >0, (54)
where B is the coefcient that multiplies z in (11) and c an
integration constant (the expression of c is not given analyt-
ically and is supposed to be determined from experiments).
This description is incorrect as

AB cannot be a real num-
ber in (53) since A>0 and B <0.
In [276], equivalent linearization is used to approximate
the system response under sinusoidal base excitation. The
system is described by
m x
r
+kx
r
+f (x
r
, x
r
) = m y, (55)
f (x
r
, x
r
) =k
d
x
r
+c
d
x
r
+z, (56)
z =A x
r
| x
r
z
n1
|z x
r
|z|
n
(57)
where x
r
is the relative displacement and y = y
0
cos(t ).
Equivalent linearization assumes that (55)(57) are equiva-
lent to the single equation
x
r
+2
ne
x
r
+
2
ne
kx
r
= y, (58)
where and
ne
are the equivalent system parameters
and are determined as a function of the frequency . This
method assumes that the solution of (55)(57) is a sine wave.
Its phase and amplitude are given as a function of the equiv-
alent parameters. Two main disadvantages of this method
are that (1) it is not applicable when the input signal y is
not a sine wave and (2) no formal upper bound on the er-
ror between the approximated solution and the exact one is
obtained. The size of the error is checked by means of ex-
periments.
Also in [276], an averaging method is used to approxi-
mate the response to a harmonic excitation. This method as-
sumes a sine wave steady-state solution for the variables x
r
and z, the amplitude a and phase of which is considered
time-varying. There is a mistake in [276, (35)(37)] where
(35) is obtained assuming a and constant, while they are
time-varying in (37).
4 Variation of the Hysteresis Loop with the Model
Parameters
Due to the nonlinearity of the Bouc-Wen model, most stud-
ies on the inuence of the model parameters on the hystere-
sis loop shape have been based on numerical simulations.
This is the subject of Sect. 4.2. The analytical description of
the hysteresis loop in [137] allowed a systematic analysis of
the Bouc-Wen hysteresis cycle in [143]. This is the subject
of Sect. 4.1.
Fig. 4 Methodologies of the
analysis of the variation of w( x)
4.1 Analytical Study of the Inuence of the Model
Parameters on the Hysteresis Loop
In [143], it is considered that the input displacement signal
x(t ) is wave T -periodic with X
min
= X
max
. This allows to
dene a normalized input
x(t ) =
x(t )
X
max
. (59)
The hysteresis part of the limit cycle is derived for load-
ing as
w( x) =
+
,n
_
+
,n
(
,n
()) +

2
( x +1)
_
, (60)
where = 2X
max
. Unloading is not considered in [143] as
it is shown that loading and unloading are symmetric.
To analyze the inuence of the normalized set of parame-
ters (, and n) on the shape of the limit cycle dened by
the graph ( x, w( x)), [143] considers three optics:
1. Analyzing the variation of w( x) as a function of each
parameter (, and n) separately. This corresponds to
studying the variation of the point Q along the w-axis in
Fig. 4.
2. Studying the variation of the point S along the x-axis in
Fig. 4 (that is the width of the hysteresis loop).
3. Dening four regions of the graph ( x, w( x)) and studying
the evolution of the points dening each region. These
regions are:
(a) linear region R
l
= [P
sl
, P
lt
],
(b) plastic region R
p
= [P
tp
, P
p
],
(c) transition region R
t
= [P
lt
, P
tp
],
(d) transition region R
s
= [P
s
, P
sl
].
Table 2 Variation of the maximal hysteretic output with the normal-
ized Bouc-Wen model parameters
,n
() 0 1
0 +
,n
() 1
2
,n
()
+
n
()
1
2
+
,n
()
,1
()
_
2
if (0, 2],
1 if >2
n with 1 1 +
,n
()
,1
()
_
2
if (0, 2],
1 if >2
n with >1 1 +
The obtained results are summarized in tables where only
the results obtained analytically are reported. The maximal
value of the hysteretic output is shown to be
,n
(). The
variation of this term with respect to each of the three pa-
rameters , and n is given in Table 2. For example, the
second row of the table is to be read as follows: the rst
column says that the term
,n
() is analyzed with respect
to the parameter . The second column says that the term
,n
() is increasing () from the value 1
2
,n
() that cor-
responds to =
1
2
to the value
+
n
() that corresponds to
= +.
Table 3 summarizes the results of the variation of the zero
of the hysteretic output with respect to the model parame-
ters, , and n. The variation of the hysteretic output with
the Bou-Wen normalized model parameters is given in Ta-
ble 4.
A detailed analytical study of the four regions of the
Bouc-Wen model hysteresis loop is also presented in [143].
4.2 Study of the Variation of the Hysteresis Loop
with the Bouc-Wen Model Parameters by Means
of Numerical Simulations
As explained in Sect. 3, [276] assumes a harmonic approx-
imation of the periodic response of a second-order system
coupled with a Bouc-Wen hysteresis. Based on this approxi-
mation, and using numerical simulations, the conclusions of
the study are the following:
1. When the amplitude of the excitation is small, the fre-
quency response of the system is quasilinear hysteretic
system, while the system exhibits a large multivalued
frequency regions as the amplitude of the excitation in-
creases.
2. As the parameter varies from negative value to positive
one, the systemfrequency response curves gradually vary
Table 3 Variation of the hysteretic zero x
with the normalized Bouc-

Wen model parameters
x
0 1
0 +
x
2
1
2
,n
() 1 1
1
2
+
x
2
,1
(
,1
()) 1
_
0 if (0, 2],
2
1 if >2
n 1 +
from hardening character to a quasilinear character and
then to soft character.
3. When is increased, the response amplitude is de-
creased.
4. When A is increased, the system natural frequency is in-
creased.
5. When is increased, the damping force is increased, the
hysteresis force loop will become slim and the damping
force will be more similar to viscous damping force, in
addition, large will make the system more like linear
system.
The study in [333] reports that there are ve kinds of hys-
teresis loops with physical meaning depending on the re-
spective signs of the quantities + and . Hardening
and softening behaviors are shown to be related to the sign
of + . It is also noted that the parameter A controls the
slope of the hysteresis loop at z = 0. Using numerical simu-
lations it is shown that the parameter n governs the smooth-
ness of the transition from linear to nonlinear range. It is
also observed that an increase of the parameter A increases
the resonant frequency and reduces the resonant peak. More-
over, it is observed that the increase of the parameters A and
n makes the hysteresis loop narrower.
5 Interpretation of the Model Parameters
In this section, the interpretation of the standard and normal-
ized parameters of the Bouc-Wen model is discussed.
Table 4 Variation of the hysteretic output w( x) with the normalized Bouc-Wen model parameters
w( x) with x 0 0 1
0 +
w( x) with 1 < x <0 0 w( x)
=
1
0
=
,n
_
n
_
x
( x+1) x
_
+
w( x) with x = 1 0 1
0 +
w( x) with x
2
1
2
,n
() 1 w( x)
=
1
2

+
n
_
2
( x +1)
_
1
2
+
w( x) with x <
2
1
2
,n
() 1 w( x)
=
1
2
+
n
_
2
( x +1)
_
1
2
+
w( x) w( x)
n=1
if (0, 2]

2
x
if >2
_
1 +

2
( x +1) for 1 x <
4
1
1 for
4
1 x 1
n 1 +
5.1 Interpretation of the Standard Bouc-Wen Model
Parameters
The parameters , A, , and n play the role of governing
and controlling the scale and general shape of the hystere-
sis loop. Due to the lack of an analytical expression of the
hysteresis loop, most works addressing this issue have used
numerical simulation to understand the inuence of these
parameters [47, 187, 202, 241, 276, 333]. The way these
simulations have been done is by xing four parameters and
varying one (the free parameter). As shown in Sect. 4.1, this
methodology is hampered by the following facts:
1. The variation of the hysteresis loop with the free parame-
ter depends on the precise values of the xed parameters.
2. Any given quantity related to the hysteresis loop (like
maximum value, width, etc.) does not depend on a sin-
gle parameter but rather on the whole set of parameters.
As a consequence, most of the results obtained in the lit-
erature are either incomplete or incorrect. A more analytic
approach is given in [143] using the normalized parameters
and its results are given in the following section.
5.2 Interpretation of the Normalized Bouc-Wen Model
Parameters
The parameters of the normalized form of the model are in-
terpreted as follows. is the slope of the linear zone for
X
max
= 1, or the inverse of the apparent yield point of the
nonlinear component of the Bouc-Wen model. The Para-
meter can be seen as a measure for the ductility of the
model, while the parameter distinguishes the softening
or the hardening behaviors of the hysteretic component and
therefore the consistency with the laws of Thermodynam-
ics. The parameter n characterizes the transition from linear
to plastic behavior along the axis of ordinates in the map
( x, w( x)).
6 The Bouc-Wen Model Parameter Identication
Identifying the Bouc-Wen model parameters consists in
proposing a signal input (or several signal inputs) and an
identication algorithm that uses the measured output of
the model along with that input to determine the unknown
model parameters. This problem has stirred a lot of re-
search effort due to its difculty being nonlinear and non-
differentiable. Some identication methods have been pro-
posed with a rigorous analysis of the convergence of the pa-
rameters to their true values, while others relied on numeri-
cal simulations and experimentation. In the next, we give an
overview of these methods.
6.1 Least-Squares Based Identication
Reference [200] presents a three-stage identication algo-
rithm that is a combination of sequential regression analysis,
least-squares analysis and/or Gauss-Newton method along
with the extended Kalman ltering technique.
In the rst stage of identication, assuming equivalent
linear system at each time interval and by using the sequen-
tial regression analysis, the system stiffness and damping
are identied by means of the following recursive formu-
lation:
a
k+1
= a
k
+P
k
H
T
k+1
(1+H
k+1
P
k
H
T
k+1
)
1
(q
k+1
H
k+1
a)
(61)
where q
k+1
= the actual (k+1) measurement, P
1
k
= H
T
k
H
k
and H
k+1
a
k
is the estimate of this measurement, while k =
time step; a = [c
1
, c
2
, . . . , c
N
, k
1
, k
2
, . . . , k
N
]
T
and N = de-
grees of freedom.
In the second identication stage, a xed n = 1 is as-
sumed, and the model parameters (A, , ) are identied
using the least-squares method proposed in [302] for dif-
ferent values and through minimizing the following error
function:
E =
m
i=1
_
z
i
AI
1i
+I
2i
+ I
3i
_
2
where
I
1i
= x, I
2i
= | x||z
i
|
n1
z
i
and I
3i
= | x||z
i
|
n
. (62)
In the third stage of identication, the extended Kalman
lter technique is used to obtain better identication results
by using the results from the second stage as an initial guess
to the third stage to speed convergence.
Paper [173] describes an iterative least squares procedure
based on a modied Gauss-Newton approach to perform the
parameter identication of an extended version of the Bouc-
Wen model that accounts for strength and stiffness degrada-
tion by [18].
References [55, 289] present an on-line identication
method based on a least-squares adaptive law with the for-
getting factor [147]. For an unknown mass m, a Bouc-Wen
hysteresis element model with additional polynomial-type
nonlinear terms, is used to investigate the effects of persis-
tence of excitation and of under- and overparameterization.
This model form is given as
z = m x +kx +c x +dx
3
_
t
0
(1/)
_
(| x||z|
n1
z x|z|
n
)
_
dt (63)
where d is the cubic term parameter and c the linear damp-
ing parameter, while the stiffness parameter k replaces
(1/)Ain the common model degradation form. In this case,
x and z are supposed to be available to measurement while
x and x are obtained by integration.
The ltered signals z in the identication process are
given by
z =
T
(64)
where
= [m, k, c, d, (1/)a
1
, (1/)a
1
,
(1/)a
2
, . . .]
T
(65)
and
=
_
s x
(s +)
,
sx
(s +)
,
s x
(s +)
sx
3
(s +)
,
| x||z|
0
z
(s +)
,
x|z|
(s +)
| x||z|z
(s +)
,
| x||z|
2
(s +)
, . . .
_
T
. (66)
To account for variable gain, a modied least-squares
adaptive law with forgetting factor [147] is used.
Paper [196] presents an adaptive on-line identication
methodology with a variable trace method to adjust the
adaptation gain matrix.
In [202], a linear parameterized estimator is proposed for
the on-line estimation of the hysteretic Bouc-Wen model
with unknown coefcients (including the parameter n) writ-
ten as
z =A x +
N
i=1
a
n
_
| x||z|
i1
z + x|z|
i
_
, (67)
where N is a known upper bound on n. A discrete-time form
of (67) is dened as follows:
z(k) = z(k 1) +t A x(k 1)
+t
N
i=1
a
i
_
| x(k 1)||z(k 1)|
i1
z(k 1)
+ x(k 1)|z(k 1)|
i
_
, (68)
where the coefcients a
i
are 0 or 1. This discrete time model
gives rise to the following discrete-time linearly parameter-
ized estimator:
z(k) = z(k 1) +
0
(k) x(k 1)
+
N
i=1
_
2i1
(k)| x(k 1)||z(k 1)|
i1
z(k 1)
+
2i
(k) x(k 1)|z(k 1)|
i
_
, (69)
where the coefcients
i
, i = 0, . . . , 2N are estimates at
each time t
k
of the corresponding coefcients shown in (68).
Equation (69) indicates a linear parameterized form with re-
spect to
i
, i = 0, . . . , 2N. Now set
= [
0
,
1
,
2
, . . . ,
2N
]
T
(70)
where
i
is a function of t and time-dependent model pa-
rameters. Also dene
(k 1) =
_
x(k 1)| x(k 1)||z(k 1)|
0
z(k 1)
x(k 1)|z(k 1)|
1
| x(k 1)||z(k 1)|
1
z(k 1)
x(k 1)|z(k 1)|
2
| x(k 1)|
|z(k 1)|
N1
z(k 1) x(k 1)|z(k 1)|
N
_
.
(71)
Then the restoring force at time t can be expressed as
z(k) =z(k 1) +
T
(k 1). (72)
Based on the data collected from performance test, least-
square method is used to estimate the model parameters,
i
,
i = 0, . . . , 2N, for each discrete frequency where N = 5 was
chosen.
In [278], the mechanical properties of low yield strength
steel are studied to develop a new device for added damp-
ing, stiffness and seismic resistance of rhombic low yield
strength steel plate. The Bouc-Wen model is used in the
following form to approximate that mechanical behav-
ior:
z =A x
_
| x||z|
n1
+ x|z|
n
_
, (73)
=
_

y
y0
_
n
, (74)
y
=
_
A
+
_
1/n
, (75)
where
y
and
y0
are the present and the nominal yielding
displacements, respectively.
A discrete form of (73) is rearranged as
z
i
=Ay
1i
y
2i
y
3i
, where (76)
y
1i
=x
i
, and (77)
y
2i
=
_
sgn( x
i
)|z
i
|
n1
z
i
_
x
i
, and (78)
y
3i
=
_
|z
i
|
n
_
x
i
. (79)
Then, the optimal coefcients of A, and can be acquired
by the tting method of least squares through solving the
following equation
y
2
1i

y
1i
y
2i

y
1i
y
3i
y
2
2i
y
2i
y
3i
sym.

y
2
3i
y
1i
z
i
y
2i
z
i
y
3i
z
i
. (80)
6.2 Kalman Filter Based Identication
In [195] it is assumed that n = 1 and an extended Kalman
lter is used to identify the rest of the parameters. A pro-
cedure for nonlinear system identication based on the ex-
tended Kalman lter is applied to soils under strong motion
records [191]. The ground is modeled as 3DOFs hysteretic
structure and the Bouc-Wen model is used in characterizing
the nonlinear backbone curve of soils. Considering a soil to
be purely hysteretic, the Bouc-Wen model of soil is written
as
=A
s
|
s
|||
n1

s
||
n
, (81)
where = shear stress;
s
= shear strain; A = initial shear
stress modulus. For non-degrading soils, using = en-
sures that the backbone curve is convex and symmetric about
the origin in this study. With = the time-rate form of the
backbone curve is obtained from (81) as
=A
s
2
s
||
n
, (82)
where A, and n are the parameters to be identied.
Identication is rst carried out based on soil hysteresis
loops, using a weighted global iteration scheme for parame-
ter identication consisting of the following steps:
1. Start the rst run with estimates of the initial condition
X(0|0) and its error covariance matrix, P(0|0).
2. Carry out the extended Kalman ltering of the data and
obtain at the end of the analysis the updated estimates of
X(n|n) and P(n|n).

3. For the next iteration, use the obtained parameter,
X
p
(n|n), as the new initial estimate, and scale the sub-
matrix, P
pp
(n|n), with a weighting factor w. The esti-
mates of the initial conditions

X
s
(0|0) and P
ss
(0|0) are
not modied in the iteration. For instance, after i itera-
tions, the new initial estimates for the i +1 iteration is as
follows:
X
i+1
(0|0) =
_

X
0
s
(0|0)
X
i
p
(n|n)
_
, (83)
P
i+1
(0|0) =
_
P
0
ss
(0|0) 0
0 w P
i
pp
(n|n)
_
. (84)
4. Continue the analysis until the parameters can no longer
be improved or a local minimum identication error is
reached.
Reference [361] presents three algorithms based upon
the simplex [24], extended Kalman lter [217], and gen-
eralized reduced gradient methods. The objective is to es-
timate the parameters of hysteresis for different classes of
inelastic structures using the generalized Bouc-Wen model
that accounts for degradation and pinching [17]. This model
form contains 13 parameters to be identied and in which
the restoring force is expressed as
F
r
=kx +(1 )kz, (85)
z =h(z)
_
A x (| x||z|
n1
z + x|z|
n
)
_
, (86)
in which A, , , n are simple loop parameters while ,
are functions containing additional loop parameters as a
function of the energy dissipated through hysteresis.
In [192], an adaptive on-line identication algorithm is
proposed for parametric and non-parametric identication
of structural models, and is applied to a generalized Bouc-
Wen model. The proposed identication methodology, a re-
cursive least-square (Kalman lter) based algorithm, up-
grades the adaptation gain matrix using an adaptive forget-
ting factor that is expressed as the ratio between the mini-
mum value of the diagonal elements of the adaptation gain
matrix and a set of pre-dened threshold values. This ap-
proach requires only acceleration measurements.
6.3 Genetic Algorithm Based Identication
In [120] a genetic based identication algorithmis proposed.
The reproduction procedure adopts the roulette wheel se-
lection and the method of crossover and uniform mutation
[3, 125].
A modication to the standard Bouc-Wen model is pro-
posed in [175] to account for non-symmetrical hysteresis ex-
hibited by an MR damper
f =c x +kx +z f
0
, (87)
z =
_
A( + sgn(z x)|z|
n
)
_
( x sgn(x)), (88)
where f
0
is the initial damper displacement contributing to
the force offset and is the scale factor for the velocity ad-
justment.
Then, the model parameters are identied by a genetic
algorithm that is improved here by
1. Removing the selection stage (it is absorbed into the
crossover and mutation operations).
2. Imposing a termination criterion on the basis of statisti-
cal tests which guarantees the quality of a near-optimal
solution.
The parameters to be dened are c, k, f
0
, , A, , , n
and, . Hence, the chromosome becomes
C
i
= {c
i
, k
i
, f
0,i
,
i
, A
i
,
i
,
i
, n
i
,
i
},
i = 1, . . . , N, N = 50. (89)
The tness function is designed from the averaged sum
of normalized square error between the simulated and ex-
perimental data. That is
e
i
=
1
n
n
i=1
| v
i
|
_
f
sim
i
f
exp
i
f
_
2
(90)
where n = the number of data points, v
i
[1, 1] is the
normalized velocity and f =f
max
f
min
is the difference
in experimental force data.
Reference [176] proposes an identication method based
on differential evolution using simulated noise-free data and
experimental data obtained from a nuclear power plant. The
Bouc-Wen model parameter n is kept constant to the value 2.
The used objective function is the mean square error (MSE)
which is cast in the discrete normalized form as
MSE =
100
n
2
x
n
i=n
_
x(t ) x(t |P)
_
2
, (91)
where
2
x
= the variance of the measured output and n =
the number of points in the measured output; x and x = the
measured and predicted time history, respectively; and P =
the parameter vector.
The optimization of the objective function is quoted from
[263] and stated as obtaining the parameter vector

P which
minimizes the MSE. The parameter vector is subjected to the
constraint
P
min

P P
max
. (92)
The so-called direct search optimization methods do not
usually provide a mechanismto restrict the parameters in the
range dened by inequality (92); neither does the differential
evolution. However, an unconstrained optimization method
can be transformed to a constrained one using the concept
of the penalty function. This function determines a penalty
to be added to the value of the MSE any time any parameter
exceeds the range limits. The penalty function selected for
this case is given by
Penalty(P
i
) =
20((P
i(min)
P
i
)/P
(min)
)
2
for P
i
<P
i(min)
,
0
for P
i(min)
<P
i
<P
i(max)
,
20((P
i(max)
P
i
)
2
/P
i(max)
)
2
for P
i
>P
i(max)
.
(93)
In [209], a population-search algorithm is proposed to
estimate the 13 parameters of the generalized Bouc-Wen
model. With a given load-displacement trace as input, the
optimization problem can be stated as the determination of
the parameter vector
p =(A, , , , n,
,
s
, q, p, ,
, ) (94)
such that the objective function
g
N
(p) =
1
N
N
j=1
[x(t
j
) x(t
j
|p)]
2
(95)
is minimized, where N = the number of data points used.
Minimization of the objective function is subject to the con-
straint that all parameters in p with the exception of are
positive.
6.4 Gauss-Newton Iterative Based Identication
In [346], a method of estimating the parameters of hysteretic
Bouc-Wen model on the basis of possibly noise corrupted
input-output data is proposed. The system model is
x +a x +bx +z =f, (96)
z =A x | x||z|
n1
z x|z|
n
. (97)
The observations are assumed to be of the form
y = x + (98)
where (i) is a zero mean Gaussian white noise with vari-
ance
2
e
, (ii) the input f is zero mean Gaussian white noise
and can be measured noise free, and further the input f is
independent of the observation noise, (iii) the initial condi-
tions are known and are set to zero for simplicity. Hence,
the integrated mean squared error is selected for minimiza-
tion as
Q=
1
T
_
T
0
2
dt =
1
T
_
T
0
_
y x
_
2
dt (99)
with respect to the parameters a, b, A, , , n. Equation (99)
is differentiated w.r.t. each parameter to get a system of nor-
mal equations
Q=
1
T
_
T
0
[y x](x/
i
)dt = 0, i = 1, 2, . . . , 6 (100)
that is solved using the Gauss Newton iterative procedure,
where = [a b A n].
In [187], Gauss-Newton iterations are used as a method
of estimating the parameters of hysteretic system with slip
on the basis of input-output data. The model used is called
slip-lock [17] as an extended version of the Bouc-Wen
model, and describes the pinching of hysteresis loops:
x +a x +bx +z =p(t ), (101)
z =A x
1
| x
1
||z|
n1
z x
1
|z|
n
, (102)
x
1
=
_
2
exp
_
z
2
2
2
_
z, (103)
x =x
1
+x
2
, (104)
s =
s
E(t ), (105)
where s =
s
E is the slip,
s
is a constant, E is the system
energy dissipation; and = the Gaussian density function.
Then, the parameters to be identied are a, b, A, , , n,
s
and the elements of the column vector .
The basic philosophy of the identication method begins
with the selection of the integrated mean squared error be-
tween the actual observation of acceleration

x(t ) and the
model response x(t ) as a cost function for minimization, i.e.,
minimize Q=
1
T
_
T
0
_
x(t ) x(t )
_
2
dt (106)
with the parameters a, b, A, , , n,
s
and , where T =
the sampling time.
Since x(t ) is non-linear function in all the parameters,
(106) can be solved iteratively. The Gauss-Newton iterative
procedure is used as:
m+1
=
m

H
1
m
Q
m
, (107)
where

H
m
= the Hessian matrix of Q, but only the rst order
derivative is used. Q
m
= the Jacobian vector of Q, and the
subscript mdenotes the computation of the matrix

H
m
or the
vector Q
m
with respect to the estimate of the parameter
vector at the mth iteration.
A three-stage procedure is suggested for carrying out the
iteration:
In the rst stage, the parameters n and are kept xed
and Q is minimized over the six parameters a, b, A, , ,
and
s
.
In the second stage, the parameter is kept xed and Q
is minimized over the seven parameters a, b, A, , , n,
and
s
.
In the third stage, Q is minimized over all the eight para-
meters.
6.5 Bootstrap Filter Based Identication
In [186], a parametric identication method is proposed for
an extended form of the Bouc-Wen model that accounts for
stick-slip phenomenon [17]. The method uses the bootstrap
lter, a ltering method based on Bayesian state estimation
and Monte Carlo method. Also, a method to decide the ini-
tial estimates of the parameters is suggested to obtain stable
solutions as well as their fast convergence to the optimal val-
ues.
6.6 Identication Using Periodic Signals
Reference [235] proposes a frequency domain parametric
identication method of non-linear hysteretic isolators de-
scribed by
m x(t ) +r(t ) =F(t ), (108)
r(t ) =kx(t ) +z(t ), (109)
z =A x | x||z|
n1
z x|z|
n
. (110)
Assuming a known mass m, the hysteretic restoring force
governed by (109) is identied by taking measurements of
both the external excitation F(t ) and the displacement re-
sponse x(t ) (or the acceleration x alternatively). The vector
of model parameters to be identied is {y} = {k n}
T
.
The signals F(t ) and x(t ) are periodic and are expressed
as
F(t ) =
F
0
2
+
N
j=1
F
j
cos jt +
N
j=1
F
j
sinjt, (111)
x(t ) =
a
0
2
+
N
j=1
a
j
cos jt +
N
j=1
a
j
sinjt, (112)
where
{F} = {F
0
F
1
F
2
F
N
F
1
F
2
F
N
}
T
, (113)
{a} = {a
0
a
1
a
2
a
N
a
1
a
2
a
N
}
T
, (114)
is the vibration frequency and N is the order number of
harmonics truncated. Applying the Galerkin (harmonic bal-
ance) method into the time domain determining function
D(t ) =

F m
...
x x{k +A[ sgn( x)
sgn(F kx m x) +y]|F kx m x|
n
} (115)
achieves
d(y) = 0 (116)
where {d(y)} is the residual of the equations and a mini-
mization problem in terms of non-linear least squares arises
as
ming(y) = d(y)
2
= d
T
d. (117)
This non-linear least squares optimal problem is solved
iteratively by the Levenberg-Marquardt algorithm.
In [136, 138], an identication method for the normal-
ized Bouc-Wen model is proposed. Using the analytical de-
scription of the hysteresis loop developed in [137], an algo-
rithm is proposed along with its analytical proof. It consists
in exciting the Bouc-Wen model with two periodic signals
with a loading-unloading shape (wave periodic) which gives
rise asymptotically to a hysteretic periodic response. The ob-
tained two limit cycles are then used as input to determine
exactly the unknown parameters. The identication method-
ology is summarized in the following steps:
STEP 1. Excite the Bouc-Wen model with a wave peri-
odic signal x(t ). After a transient, the output
BW
(t ) will
have a steady state as

BW
(t ). Since both the input and
the output are accessible to measurements, the relation
(x,

BW
(x)) is known.
STEP 2. Choose a nonzero constant q and excite the
Bouc-Wen model with the input x
1
(t ) = x(t ) + q. Af-
ter a transient, the output
BW,1
(t ) will have a steady
state

BW,1
(t ). Since both the input and the output are
accessible to measurements, the relation (x
1
,

BW,1
(x
1
))
is known.
STEP 3. Compute the coefcient
x
as
x
=
BW,1
(x +q)

BW
(x)
q
. (118)
STEP 4. Compute the function (x) as
w
w(x) =

BW
(x)
x
x (x). (119)
STEP 5. Determine the unique zero of the function (x),
that is the quantity x
such that (x
) = 0.
STEP 6. Compute the parameter a as
a =
_
d(x)
dx
_
x=x
. (120)
STEP 7. Choose two design constants x
1
and x
2
such
that x
2
> x
1
> x
. Then compute parameters n and b

using the following equations
n =
log(
(
d(x)
dx
)
x=x
2
a
(
d(x)
dx
)
x=x
1
a
)
log(
(x
2
)
(x
1
)
)
, (121)
where log(.) denotes the natural logarithm
b =
a (
d(x)
dx
)
x=x
2
(x
2
)
n
. (122)
STEP 8. Compute the parameters
w
and as
w
=
n
_
a
b
, (123)
=
a
w
. (124)
STEP 9. Compute the function w(x) using
w(x) =
(x)
w
. (125)
STEP 10. Choose a design constant x
3
such that x
3
<
x
. Then compute the parameter as follows:

=
1
2
_
(
d w(x)
dx
)
x=x3
1
( w(x
3
))
n
+1
_
. (126)
6.7 Simplex Method Based Identication
Reference [262] presents a two-step system identication
approach that does not require the semiactive device to be
tested apart from the structure, but rather mounted into it. It
consists in (i) identication of a model for the primary struc-
ture without the semiactive damper attached; (ii) installation
of the semiactive damper in the structure and simultaneous
identication of the remaining parameters for the primary
structure and of a model for the semiactive control device.
The simplex algorithm is employed to optimize the dynam-
ical parameters.
In [115], the simplex and Levenberg-Marquardt opti-
mization methods are used to t experimental data with
curves given by a Bouc-Wen model in a dynamic suspen-
sion modeling problem.
6.8 Support Vector Regression Based Identication
Reference [363] proposes a non-linear structural identica-
tion scheme to identify the Bouc-Wen type structures. It pro-
duces the unknown power parameter n of the model by the
model selection strategy, transforms the non-linear differ-
ential equation into a linear problem through the high or-
der Adam Moulton implicit equation [275], and utilizes the
support vector regression data processing technique to solve
non-linear structural parameters.
6.9 Constrained Nonlinear Optimization Based
Identication
Paper [273] uses the Bouc-Wen model to describe mag-
netorheological dampers, and proposes a methodology of
identication to determine the model parameters. The value
n = 2 is supposed and the model estimation problem is re-
duced to an optimization problem where the performance
index is a classical normalized L
2
-norm of the output tting
error.
In [320, 336] and [349] a constrained nonlinear optimiza-
tion is used for identication purpose.
6.10 Non-Parametric Identication
In [220], the Bouc-Wen nonlinear hysteresis term is approx-
imated by a power series expansion of suitable basis func-
tions, then the coefcients of the functions are determined
using standard least-squares methods.
In [199], a method relying on deconvolution to estimate
the non-linear hysteretic force z from experimental records
is used.
7 Modeling Using the Bouc-Wen Model
The Bouc-Wen model has been extensively adopted in many
engineering elds to represent the hysteresis behavior of
some nonlinear components. In this section, we present an
overview of the use of this model.
7.1 Magnetorheological Dampers
Magnetorheological (MR) dampers are hysteretic devices
that employ rheological uids to modify their mechanical
properties. The stiffness and damping characteristics of the
MR damper change when the rheological uid is exposed
to a magnetic eld. The Bouc-Wen model has been used to
describe the hysteresis behavior of these devices.
Reference [90] proposes a non-linear model for MR
damper which incorporates the current (I ), amplitude and
frequency excitation () as input variables. In this sense, the
modied Bouc-Wen model is reformulated as follows:
F
_
x(), x(), I, , x, 0 t ; t
_
=
_
d
1
d
2
__
d
3
d
4
max
_
[c
0
(I) x +k
0
(I)x +(I)z], (127a)
z(I) =A(I) x +(I)| x||z|
n1
z x|z|
n
, (127b)
c
0
(I) =c
1
+c
2
_
1 e
c
3
(II
c
)
_
for I >I
c
, (127c)
c
0
(I) =c
4
+
c
4
c
1
I
c
I for I I
c
, (127d)
k
0
(I) =k
1
+k
2
I, (127e)
(I) =
1
+
2
_
1 e
3
(II
c
)
_
for I >I
c
, (127f)
0
(I) =
1
+

4

1
I
c
I for I I
c
, (127g)
(I) =
1

2
I, (127h)
F
z0
(I) =F
z01
+F
z02
_
1 e
F
z03
(II
c
)
_
for I >I
c
, (127i)
F
z0
(I) =F
z04
+
F
z04
F
z01
I
c
I for I I
c
, (127j)
where A and assumed to be one and zero, respectively,
and the 16 constant parameters c
1
, c
2
, c
3
, c
4
, k
1
, k
2
,
1
,
2
,
3
,
4
,
1
,
2
, F
z01
, F
z02
, F
z03
and F
z04
relate the character-
istic shape parameters to current excitation. I
c
is the critical
current in which the characteristic parameters change their
linear behavior in low velocity to exponential behavior in
high velocity.
Paper [240] presents a simple mechanical model consist-
ing of a Bouc-Wen element in parallel with a viscous damper
(with damping coefcient c
0
). It was used and veried to ac-
curately predict the behavior of a prototype shear-mode MR
damper over a wide of range of inputs by. The force f ex-
erted by this model is
f =c
0
x + z (128)
where z is given by (139). Device model parameters and
c
0
are considered dependent on the control voltage V as fol-
lows:
=(V) =
a
+
b
V, (129)
c
0
=c
0
(V) =c
0a
+c
0b
V. (130)
A Bouc-Wen hysteretic voltage-dependent model is de-
veloped from performance tests of a 3 kN MR damper de-
vice that is incorporated to an isolated structure subjected
to earthquake excitations in order to reduce its response
by [202]. The restoring force F(t ) is expressed as
F(t ) =C(V) x +z, (131)
z =A x +| x||z|
n1
z + x|z|
n
(132)
where C(V) is a voltage-dependent parameter.
In [299], an extension to the standard Bouc-Wen model is
proposed to account for the rolloff that appears in the force-
displacement relationship at small velocities. In this modi-
ed model, the force is given by
F = z +c
0
( x y) +k
0
(x y) +k
1
(x x
0
)
= c
1
y +k
1
(x x
0
) (133)
where z and y are governed by
z = | x y| z |z|
n1
( x y)|z|
n
+A( x y), (134)
y =
1
c
0
+c
1
_
z +c
0
x +k
0
(x y)
_
(135)
in which k
1
= accumulator stiffness; c
0
= viscous damping
at large velocities; c
1
= viscous damping for force rolloff at
low velocities; k
0
= stiffness at large velocities; and x
0
=
initial displacement of spring k
1
. This modication is used
by [343] to reproduce the hysteresis loop of a large scale MR
damper.
In [175], a non-symmetrical Bouc-Wen model for MR
uid dampers is presented. The adopted strategy is to adjust
the velocity value in calculating the hysteretic variable but
retain the general expression for the Bouc-Wen model. The
resulting non-symmetrical Bouc-Wen model is
z =
_
A
_
+ sgn[z( x sgn(x))]
_
|z|
n
_
( x sgn(x)) (136)
where is the scale factor for the adjustment, provided that
sgn(x) 0
x0
. (137)
The overall effect is to shift the hysteresis switching in
the vicinity of zero velocity while maintaining the hysteretic
shape in the rest of the hysteresis loop.
Paper [344] presents a phenomenological dynamic model
based on the Bouc-Wen model to estimate large-scale MR
damper behavior under dynamic loading. This model ac-
commodates the MR uid stiction phenomenon, as well as
uid inertial and shear thinning effects. Moreover, the pro-
posed model is supposed to be more effective in describing
the force rolloff in the low velocity region, force overshoots
when velocity changes in sign, and two clockwise hysteresis
loops at the velocity extremes. The damper force is given by
f f
0
=m x +c( x) x +kx +z, (138)
z =A x | x||z|
n1
z x|z|
n
. (139)
In this model, m = equivalent mass which represents
the MR uid stiction phenomenon and inertial effect; k =
accumulator stiffness and MR uid compressibility; f
0
=
damper friction force due to seals and measurement bias;
and c( x) = post-yield plastic damping coefcient which is
dened as a monodecreasing function with respect to ab-
solute velocity | x| to describe the MR uid shear thinning
effect which results in the force rolloff of the damper resist-
ing force in the low velocity region. The post-yield damping
coefcient is assumed to have the form
c( x) =a
1
e
(a
2
| x|)
p
(140)
where a
1
, a
2
and p = positive constants.
In [349] and [240], a Bouc-Wen based phenomenological
model of a shear-mode MR damper is presented while [135]
proposes a simplied version of the Bouc-Wen model for
MR dampers called the Dahl model.
7.2 Structural Elements
The Bouc-Wen model has been used to simulate a variety of
hysteretic structural elements behaviors. For example, and
based on the modication of the Bouc-Wen-Baber-Noori
model, general features of the hysteretic behavior of wood
joints (with yielding plates or yielding nails or yielding
bolts) and structural systems were characterized by [104].
The model accounts for degradation and pinching in the
form:
z =h(z)
_
A x (| x||z|
n1
z + x|z|
n
)
_
(141)
where and are the strength and stiffness degradation re-
spectively.
In [243], the standard form of the model is incorporates
into ABACUS to investigate the dynamic frictional contact
of a bolted joint under harmonic loading.
Reference [321] investigates the effects of connection
failure on structural response of steel buildings under earth-
quakes, a smooth connection-fracture hysteresis model
based on the Bouc-Wen model. The form of the model that
accounts for degradation is extended to represent asymmet-
ric smooth hysteresis in which the ultimate positive and neg-
ative restoring forces are not equal. This extensions is for-
mulated as
z =
x
_
A|z|
n
_
sgn( xz) + +(sgn(z) +sgn( x))
__
(142)
in which is an additional parameter accounting for the
asymmetric yielding behavior. The hysteresis loops shift
downward or upward depending on the sign (positive or neg-
ative) of the parameter .
The inelastic behavior of connections is described in
[190], taking into account capacity uncertainties of connec-
tions.
The work in [23] utilizes the Bouc-Wen model to de-
scribe hysteretic dampers that interconnect two adjacent
structures subjected to seismic excitation.
Paper [19] studies the nonlinear response of single piles
under lateral inertial and seismic loads using (144) as a
macroscopic model. This model consists of distributed non-
linear springs (described by the Bouc-Wen model), com-
bined with a distributed viscous (frequency dependent)
dashpots, placed in parallel, and describes the lateral soil
reaction. The variable y represents the value of pile deec-
tion that indicates yielding in the spring.
7.3 Base Isolation Devices
The base isolation devices aim to absorb or reect the earth-
quake input energy to the structure to keep linear structural
vibration. Many devices are strongly nonlinear showing dif-
ferent hysteretic behaviors. The Bouc-Wen model has been
introduced for its intrinsic ability in reproducing a wide
range of real devices behavior.
A combined energy dissipation system was developed by
[204]. In this system lead rubber dampers and their paral-
lel connection with oil dampers are used in the braces of
a structural frame. The restoring force characteristics of the
lead rubber damper is simulated by the Bouc-Wen hysteretic
model having the following form:
F =
F
y
d
y
x +(1 )F
y
z, (143)
z =
1
d
y
_
A x | x||z|
n1
z x|z|
n
_
(144)
where F
y
and d
y
are the yielding force and yielding dis-
placement, respectively.
The same form of (144) was also used to control the evo-
lutionary parameter z by [76] to model the friction of Teon-
steel interfaces in sliding-based seismic isolation devices.
The frictional force is given by
F
f
=
s
W z (145)
where
s
is the coefcient of sliding friction, W is the struc-
tural weight, z takes values 1 during sliding (yielding) and
during sticking (elastic behavior), the absolute value of z
is less than unity. Equation (144) was also used by [83] to
model the dissipated energy by the wire rope isolators for
building equipments, which have found numerous applica-
tion in the shock and vibration isolation in military and in-
dustrial elds.
Because of its versatility and suitability for direct closed
form stochastic linearization, the Bouc-Wen model was em-
ployed within a method of random vibration analysis of base
isolated shear structures with hysteretic dampers by [75] and
[214] to simulate the load deformation path of the hysteretic
devices.
In [216], a parametric stochastic analysis of an isolated
bridge is proposed with the aim to assess isolation perfor-
mance and to investigate effects of energetic inuence on
protection efciency. Isolated bridge (piers and seismic iso-
lators) is described by a simple two degree of freedomBouc-
Wen hysteretic model. Engineering mechanical quantities
were related to the analytical parameters of the model in or-
der to model real structural elements. Accordingly, the evo-
lutionary parameter z is given by
z = x
_
1
1
2
_
z
x
y
_
n
(1 +sgn(z x))
_
, (146)
x
y
=
_
1
+
_
1/n
, the limit elastic displacement (147)
assuming A= 1. It was reported that, by adopting the Bouc-
Wen and by using appropriate parameters for this model, it
becomes able to suitably characterize an ordinary building
and the considered base isolators.
7.4 Mechanical Systems
The Bouc-Wen model provides useful predictions of the re-
sponses of suspension seats of the off-road machines to tran-
sient inputs [115]. It is concluded that the Bouc-Wen model
can provide a useful simulation of an existing seat and as-
sist the optimization of an individual component in the seat,
without measuring the dynamic properties of components in
the seat except those of the component being optimized. The
used form of the model is
F
BW
=(k k
s
) x | x|F
BW
x|F
BW
| (148)
in which k and k
s
are positive stiffnesses, x is the relative
vertical displacement, while and give the effect of hys-
teresis, and F
BW
is the Bouc-Wen force that combines all the
non-linear effects due to the different seat components.
Reference [293] investigates the interaction effect be-
tween electrical substation equipment (an important ele-
ment within the power transmission lifeline) items con-
nected by nonlinear rigid bus conductors. The symmetric
hysteretic behaviors are described by the original Bouc-Wen
model while the components having asymmetric hysteresis
are modeled by a modied version of the Bouc-Wen model
for highly asymmetric hysteresis loops with constant para-
meters. The auxiliary differential equation of this modied
model is given as
z = x
_
A|z|
n
(x, x, z)
_
, (149)
=
1
sgn( xz) +
2
sgn(x x) +
3
sgn(xz)
+
4
sgn( x) +
5
sgn(z) +
6
sgn(x) (150)
in which
i
, i = 1, 2, . . . , 6, are parameters controlling the
shape of the hysteresis loop and x is the relative displace-
ment.
To predict correctly the lateral vibration of an elevator
in motion by [324], it was necessary to deal with a rate-
dependent stick-slip phenomenon which may occur at a
rubber-to-metal interface which is observed at the interface
between the guide roller and the rail of a typical elevator
in motion. To consider the rate-dependent nonlinearity, the
mth-power velocity damping model c| x|
m
sgn( x) is incor-
porated to the Bouc-Wen model, so the variable z is ex-
pressed as
z
m
=c| x|
m
sgn( x) +z, (151)
where z is given by (139).
Without introducing any modications to the standard
Bouc-Wen model, an investigation of the dynamics of a
small non-linear oscillator having softening hysteretic char-
acteristic and weakly coupled with a linear oscillator was
performed by [180].
7.5 Piezoelectric Actuators
The Bouc-Wen model was experimentally modied by [203]
to describe the hysteresis phenomenon of the piezoelectric
actuator and used later by [119] and [194] to simulate the
hysteresis of a piezoelectric element. The modied form is
z = d
33

V |

V|z

V|z|, (152)
where d
33
is the piezoelectric coefcient and V denotes the
input voltage. , and control the shape of the hystere-
sis loop. The same form of the Bouc-Wen model was also
employed to describe the frictional hysteresis force of an
impact drive mechanism by [118].
7.6 Soil Behavior
In a study of the grain-crushing-induced landslides, [111]
used the hysteretic stress-strain Bouc-Wen-type constitutive
model in conjunction with a Mohr-Column friction law and
Terzaghis effective stress principle to model the hysteretic
stress-displacement relationship of the soil inside the shear
band where,
=
y
z, (153)
in which
y
= the ultimate shear strength and z is given by:
z =
1
x
y
_
1 |z|
n
_
b +(1 b) sgn( xz)
__
(154)
where x is the lateral velocity, x
y
is a parameter accounting
for the elasto-plastic slip tolerance and the parameter b con-
trols the shape of the unloading-reloading curve. Its range of
values is between 0 and 1.
Another extension to the Bouc-Wen hysteresis model is
performed in [254] to provide a better representation of the
actual shearing stress-strain behavior of soils under constant
and variable amplitude cyclic loading. In particular, it is de-
sired to obtain a better representation of the soil response
under small amplitude non-symmetric and non-zero mean
loading reversals. Simultaneously, it is also desired to ob-
tain a better representation of the equivalent viscous damp-
ing ratio at high strain levels. The smooth-hysteretic model
can be obtained if a nite number p of nonlinear-hysteretic
springs described by the standard Bouc-Wen model are used
in parallel, then the shearing stress is given by
=(1 )G
m
s
+(1 )
M
p=1
G
m
p
z
p
, (155)
z
p
=A
p

s

p
|
s
||z
p
|
n
p
1
z
p

p

s
|z
p
|
n
p
(156)
with the following conditions:
M
p=1
G
m
p
=G
m
, (157)
M
p=1
m
p
=
m
(158)
where
m
p
=G
m
p
_
A
p
p
+
sp
_
1/n
p
(159)
in which G
m
is the (small strains) shear modulus;
s
is the
shearing strain; and
mp
is the maximum shear stress.
A discrete version of the Bouc-Wen model to describe
strong ground motion in Iceland is used in [242].
7.7 Energy Dissipation Systems
In [277], a modication of the Bouc-Wen model was pro-
posed by adding the isotropic hardening mechanism to re-
produce the nonlinear strain hardening in seismic resistance
of rhombic Low Yield Strength Steel under practical recip-
rocating loading test. The modied form is
z =A x
_
| x||z|
n1
z + x|z|
n
_
, (160)
=
_

y
y0
_
n
, (161)
y
=
_
y0
if
max

y0
,
y0
+(
max

y0
) if
max

y0
,
(162)
where
y0
is the initial yielding displacement;
max
is the
absolute value of the maximum displacement in the loading
history; =; is the rate of kinematic transformation;
and ranges from 0 to 1 and follows the transformation of
deformation history, which is decreasing.
Based on the extension of the Bouc-Wen model that
accounts for degradation, (141) with h(z) = 1, a friction
energy dissipating system attached to reinforced concrete
panel is studied. The extension of the Bouc-Wen model is
employed to model the exibility of the connection between
the steel elements and the concrete panel, and to model the
impact of these bolts as well as the expansion of the con-
crete holes as a result of the impact. It is concluded that,
when modeling friction using elements that are based on the
Bouc-Wen model, the violation of the model to Drucker and
Iliushin postulates increases the displacement by an insignif-
icant amount over some paths and has negligible effect on
the predicted behavior, [272].
8 Conclusion
This paper surveyed the literature related to the Bouc-Wen
model. It has been organized into sections that address spe-
cic issues like modeling, control, identication, etc. Each
section presented what, in the authors point of view, are
the main contributions relative to that specic issue. It has
not been possible to present every single work relative to
the Bouc-Wen model as issues discussed in some papers are
very peculiar and do not fall within any general category.
Nevertheless, all the papers that the authors are aware of
have been cited in the reference part of this survey.
Acknowledgements The rst author acknowledges the support of
the Generalitat de Catalunya through the FI fellowships programs.
This research has been funded by projects DPI2008-06463-C02-01 and
DPI2005-08668-C03-01 of the Spanish Ministry of Science and Inno-
vation.
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The Hysteresis Bouc-Wen Model - A Survey

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Arch Comput Methods Eng (2009) 16: 161188

and strictly increasing on (1, 1], so

and strictly increasing on [1, 1), so

and strictly increasing on (1, 1), so

with the normalized Bouc-

X(n|n) and P(n|n).

. Then compute parameters n and b

. Then compute the parameter as follows:

almost disturbance decoupling robust controller design

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