Modal Superposition Method
Comprehensive Notes for Structural Dynamics
1. Introduction
The Modal Superposition Method (also called the Mode Superposition Method) is a powerful
technique used to solve the dynamic response of multi-degree-of-freedom (MDOF) systems. Instead of
solving a coupled set of N simultaneous differential equations directly, the method transforms them into N
uncoupled single-degree-of-freedom (SDOF) equations by using the system's natural mode shapes as a
coordinate transformation basis.
This transformation is possible because the mode shapes of an undamped (or proportionally damped)
system are orthogonal with respect to both the mass matrix [M] and the stiffness matrix [K]. Each
uncoupled equation is solved independently, and the total response is obtained by superposing the
contributions of all modes.
2. Equation of Motion for an MDOF System
For an N-DOF system subjected to external forces, the equation of motion in matrix form is:
[M]{x''(t)} + [C]{x'(t)} + [K]{x(t)} = {F(t)}
where:
[M] = N x N mass matrix (symmetric, positive definite)
[C] = N x N damping matrix
[K] = N x N stiffness matrix (symmetric, positive semi-definite)
{x(t)} = N x 1 displacement vector
{F(t)} = N x 1 external force vector
x'' denotes d2x/dt2, x' denotes dx/dt
3. Free Vibration and Eigenvalue Problem
Setting {F(t)} = 0 and [C] = 0, we get the free-vibration equation:
[M]{x''} + [K]{x} = {0}
Assuming harmonic motion {x(t)} = {phi} sin(omega t), substitution gives the generalised eigenvalue
problem:
[K]{phi} = omega2 [M]{phi}
Solving yields N eigenvalues omega12, omega22, ... , omegaN2 (natural frequencies squared) and
corresponding eigenvectors {phi1}, {phi2}, ... , {phiN} (mode shapes).
4. Orthogonality of Mode Shapes
The mode shapes satisfy the following orthogonality conditions:
{phii}T [M] {phij} = 0 for i != j
{phii}T [K] {phij} = 0 for i != j
For i = j, we define the modal mass and modal stiffness:
Mi = {phii}T [M] {phii} Ki = {phii}T [K] {phii} = omegai2 Mi
5. Modal Matrix and Coordinate Transformation
Collect all mode shapes column-wise into the modal matrix:
[Phi] = [ {phi1} {phi2} ... {phiN} ]
The physical displacement vector is expressed as a linear combination of mode shapes:
{x(t)} = [Phi] {q(t)} = SUM( qi(t) {phii} , i=1..N )
where {q(t)} is the vector of modal (generalised) coordinates. Each qi(t) gives the time-varying amplitude
of the i-th mode.
6. Uncoupled Modal Equations
Substituting {x} = [Phi]{q} into the original equation and pre-multiplying by [Phi]T:
[Phi]T[M][Phi] {q''} + [Phi]T[C][Phi] {q'} + [Phi]T[K][Phi] {q} =
[Phi]T{F(t)}
Due to orthogonality, the mass and stiffness terms become diagonal. If proportional (Rayleigh) damping
is assumed ([C] = a[M] + b[K]), the damping term also diagonalises. The result is N independent SDOF
equations:
Mi qi''(t) + Ci qi'(t) + Ki qi(t) = Qi(t) for i = 1, 2, ..., N
Dividing by Mi gives the standard form:
qi''(t) + 2 zetai omegai qi'(t) + omegai2 qi(t) = Qi(t) / Mi
where: zetai = Ci / (2 Mi omegai) is the modal damping ratio, and Qi(t) = {phii}T {F(t)} is the modal force.
7. Step-by-Step Procedure
Step 1: Formulate [M] and [K]
Assemble the mass and stiffness matrices for the system.
Step 2: Solve the Eigenvalue Problem
Solve [K]{phi} = omega2[M]{phi} to obtain natural frequencies omegai and mode shapes {phii}.
Step 3: Form the Modal Matrix [Phi]
Arrange mode shapes as columns of [Phi]. Normalise if desired (mass-normalisation is common).
Step 4: Compute Modal Parameters
Calculate modal mass Mi, modal stiffness Ki, modal damping Ci, and modal forces Qi(t).
Step 5: Solve Each Uncoupled SDOF Equation
Use Duhamel integral, Newmark-beta, or any SDOF solver for each mode.
Step 6: Transform Back to Physical Coordinates
{x(t)} = [Phi]{q(t)} = SUM( qi(t) {phii} )
8. Rayleigh (Proportional) Damping
For the modal equations to decouple in the presence of damping, we need:
[C] = a [M] + b [K]
Under this assumption the modal damping ratio for the i-th mode is:
zetai = a / (2 omegai) + b omegai / 2
The constants a and b can be determined if the damping ratios for any two modes are known.
9. Advantages and Limitations
Advantages:
• Converts a coupled N-DOF problem into N independent SDOF problems.
• Only a few lower modes often dominate, so higher modes can be truncated (modal truncation),
greatly reducing computation.
• Physical insight: each mode's contribution to the response can be examined separately.
• Efficient for large systems (FEA) where direct integration is expensive.
Limitations:
• Requires proportional (or light) damping for exact decoupling. Non-proportional damping couples
modes.
• For very short-duration impulsive loads or shock, many modes may be needed, reducing efficiency.
• Cannot handle nonlinear systems directly.
10. Detailed Solved Example
Problem Statement
A two-storey shear building is modelled as a 2-DOF system. The properties are:
m1 = m2 = m = 1 kg
k1 = k2 = k = 200 N/m
Damping is neglected (undamped system).
A step force F(t) = 100 N is applied at DOF 2 at t = 0 (DOF 1 has no external force).
Initial conditions: {x(0)} = {0}, {x'(0)} = {0}.
Find the displacement response x1(t) and x2(t) using the Modal Superposition Method.
Step 1 — Mass and Stiffness Matrices
For a two-storey shear building:
[M] = | 1 0 | [K] = | 400 -200 |
| 0 1 | | -200 200 |
Step 2 — Eigenvalue Problem
Solve det([K] - omega2[M]) = 0 :
| 400 - lambda -200 |
| -200 200 - lambda | = 0 where lambda = omega2
Expanding the determinant:
(400 - lambda)(200 - lambda) - (-200)(-200) = 0
80000 - 400 lambda - 200 lambda + lambda2 - 40000 = 0
lambda2 - 600 lambda + 40000 = 0
Using the quadratic formula:
lambda = (600 +/- sqrt(360000 - 160000)) / 2
lambda = (600 +/- sqrt(200000)) / 2 = (600 +/- 447.21) / 2
lambda1 = (600 - 447.21)/2 = 76.39 => omega1 = sqrt(76.39) = 8.74
rad/s
lambda2 = (600 + 447.21)/2 = 523.61 => omega2 = sqrt(523.61) = 22.88
rad/s
Step 3 — Mode Shapes
Mode 1 (lambda1 = 76.39):
(400 - 76.39) phi11 - 200 phi21 = 0
323.61 phi11 = 200 phi21 => phi21/phi11 = 1.618
{phi1} = { 1.000, 1.618 }T
Mode 2 (lambda2 = 523.61):
(400 - 523.61) phi12 - 200 phi22 = 0
-123.61 phi12 = 200 phi22 => phi22/phi12 = -0.618
{phi2} = { 1.000, -0.618 }T
Note: Mode 1 (lower frequency) has both masses moving in the same direction. Mode 2 (higher frequency)
has them moving in opposite directions. This is a classic result.
Step 4 — Modal Parameters
Modal masses:
M1 = {phi1}T[M]{phi1} = 1(1)2 + 1(1.618)2 = 1 + 2.618 = 3.618
M2 = {phi2}T[M]{phi2} = 1(1)2 + 1(-0.618)2 = 1 + 0.382 = 1.382
Modal stiffnesses:
K1 = omega12 M1 = 76.39 x 3.618 = 276.39
K2 = omega22 M2 = 523.61 x 1.382 = 723.63
Modal forces (F = {0, 100}T applied as step):
Q1 = {phi1}T{F} = 1(0) + 1.618(100) = 161.8 N
Q2 = {phi2}T{F} = 1(0) + (-0.618)(100) = -61.8 N
Step 5 — Solve Uncoupled SDOF Equations
For the undamped case with a step force and zero initial conditions, the response of each mode is:
qi(t) = (Qi / Ki) (1 - cos(omegai t))
Mode 1:
q1(t) = (161.8 / 276.39)(1 - cos(8.74 t))
q1(t) = 0.5854 (1 - cos 8.74t)
Mode 2:
q2(t) = (-61.8 / 723.63)(1 - cos(22.88 t))
q2(t) = -0.0854 (1 - cos 22.88t)
Step 6 — Transform Back to Physical Coordinates
{x(t)} = q1(t){phi1} + q2(t){phi2}
Displacement of DOF 1:
x1(t) = phi11 q1(t) + phi12 q2(t)
x1(t) = 1.0 x 0.5854(1-cos 8.74t) + 1.0 x (-0.0854)(1-cos 22.88t)
x1(t) = 0.5854 (1 - cos 8.74t) - 0.0854 (1 - cos 22.88t) [m]
Displacement of DOF 2:
x2(t) = phi21 q1(t) + phi22 q2(t)
x2(t) = 1.618 x 0.5854(1-cos 8.74t) + (-0.618) x (-0.0854)(1-cos 22.88t)
x2(t) = 0.9471 (1 - cos 8.74t) + 0.0528 (1 - cos 22.88t) [m]
Verification and Physical Insight
Static check: As t -> infinity (with light damping implied), cos terms average out. The static deflection
under F2 = 100 N can be verified from [K]{xs} = {F}. Solving gives x1s = 0.5 m and x2s = 1.0 m. The modal
solution's "static" component (sum of constant terms) matches: x1s = 0.5854 - 0.0854 = 0.500 m and x2s
= 0.9471 + 0.0528 = 1.000 m. Verified!
Dynamic Amplification Factor: For a step load on an undamped SDOF system, the maximum dynamic
displacement is twice the static displacement (DAF = 2). So the maximum response of each DOF will be
approximately twice the static value when both modes peak together.
Key Takeaway: The modal superposition method reduced a coupled 2-DOF problem into two independent
SDOF problems. Each was solved using the well-known step-force response formula. The total response
was obtained by summing the modal contributions. In practice, for a system with hundreds of DOFs, only a
small number of lower modes typically need to be included (modal truncation), making this method
extremely efficient.