In this paper

an innovative control algorithm was proposed for nonlinear vibration control of structures with parameter uncertainties.The algorithm combines the LQR controller and the nonlinear robust controller to control the nonlinear earthquake response together.Therein

LQR controller is designed based on the linear reference model

and meanwhile the nonlinear robust controller is designed based on nonlinear robust control theory

structural parameter uncertainties and nonlinear behavior.The innovative control algorithm proposed in this paper was applied to controlling a reinforced concrete nonlinear structure under earthquake action to verify its validity.The results show that

structural members can yield and get into the nonlinear phase under strong seismic load

and the controller which is designed based on the linear reference model is not suitable for nonlinear structures;The mitigation effect of nonlinear robust controller on elastic-plastic structure is very obvious under different seismic excitations;The proposed control algorithm may lead to the adaptive vibration control of structures.