Matrix Structural Analysis (Truss)

MATRIX STRUCTURAL
ANALYSIS
STRUCTURAL ANALYSIS
I t i s th e pr oc es s of predi cti ng th e
performance of a given structure under a
prescribed loading condition.
(a) stresses or stress resultants (i.e., axial forces,

shears, and bending moments);
(b) deflections; and
(c) support reactions
SIGNIFICANCE OF
LEARNING THE COURSE
1. ETABS
2. MIDAS GEN
3. STAAD
4. GRASP
It is therefore essential that structural
engineers understand the basic principles of
matrix analysis, so that they can develop their
own computer programs and/or properly use
commercially available software—and
appreciate the physical significance of the
analytical results.
Methods of
Structural Analysis
1. Classical Method
2. Matrix Method
3. Finite Element Method
Classical versus
Matrix Methods
Classical: Matrix:
• Intended for hand • Systematic, so that they
calculations can be conveniently
• often involve certain programmed.
assumptions to reduce • General, in the sense
the amount of that the same overall
computational effort format of the analytical
required for analysis. procedure can be
• Gets complicated applied to the various
types of framed
structures.
MATRIX VERSUS:
Finite Element Method

i. Matrix analyze framed structures only whereas FEM
has been developed to the extent that it can be
applied to structures and solids of practically any
shape or form.
ii. in matrix methods, the member force–displacement
relationships are based on the exact solutions of the
underlying differential equations, whereas in finite el
ement methods, such relations are generally
derived by work-energy principles from assumed
displacement or stress functions.
MATRIX METHODS|
FLEXIBILITY AND STIFFNESS METHODS
1. Flexibility method (force or compatibility

method)
 In this approach, the primary unknowns are the
redundant forces, which are calculated first by
solving the structure’s compatibility equations.
2. Stiffness method (displacement or equilibrium
method)
 In this approach, the primary unknowns are the joint
displacements, which are determined first by solving
the structure’s equations of equilibrium.
*this course will focus on stiffness method (direct stiffness

method)
CLASSIFICATION OF
FRAMED STRUCTURES
• Framed structures are composed of straight members
whose lengths are significantly larger than their cross-
sectional dimensions.
• Common framed structures can be classified into six
basic categories based on the arrangement of their
members, and the types of primary stresses that may
develop in their members under major design loads.
CLASSIFICATION OF
FRAMED STRUCTURES
1. Plane Trusses
2. Beams
3. Plane Frames (Rigid Frames)
4. Space Trusses
5. Grids
6. Space Frames
ANALYTICAL MODELS
• An analytical model is an idealized representation of a

real structure for the purpose of analysis represented by
LINE DIAGRAMS
• In matrix methods of analysis, a structure is modeled as
an assemblage of straight members connected at their
ends to joints.
1. A member is defined as a part of the structure for which the
member force-displacement relationships to be used in the anal
ysis are valid.
2. A joint is defined as a structural part of infinitesimal size to which
the ends of the members are connected.
*(In finite-element terminology, the members and joints of structures are

generally referred to as elements and nodes, respectively.)
ANALYTICAL MODELS
ANALYTICAL MODELS|
LINE DIAGRAMS
•each member is depicted by a •the joints and members

line coinciding with its of the structure are
centroidal axis identified by numbers in
•the member dimensions and which the joint numbers
the size of connections are not are enclosed within circles
shown to distinguish them from
•r i g i d j o i n t s a r e u s u a l l y the member numbers
represented by points, and enclosed within
hinged joints by small circles, at rectangles.
the intersections of members.
FUNDAMENTAL
RELATIONSHIPS FOR
STRUCTURAL ANALYSIS
Structural analysis, in general, involves the use of
three types of relationships:
• Equilibrium equations,
• compatibility conditions, and
• constitutive relations.
Equilibrium Equations
A structure is considered to be in equilibrium if, initially at

rest, it remains at rest when subjected to a system of
forces and couples.
• Plane (two-dimensional) structure
• Space (three-dimensional) structure

Compatibility Conditions
Also reffered to
a s continuity
conditions, relate
the deformations of
a structure so that
its various parts
(members, joints,
an d sup port s ) fit
t oget h e r w it h out
any gaps or
overlaps.
Constitutive Relations
• Also known as stress-strain relations, describe the

relationships between the stresses and strains of a
structure in accordance with the stress-strain properties
of the structural material
• It provides link between the equilibrium equations and
compatibility conditions that is necessary to establish
the load-deformation relationships for a structure or a
member
MATRIX ALGEBRA
DEFINITION OF A MATRIX
A matrix is defined as a rectangular array of quantities

arranged in rows and columns. A matrix with m rows and n
columns can be expressed as follows.
TYPES OF MATRICES
1. Column Matrix (Vector)

2. Row Matrix
3. Square Matrix
TYPES OF MATRICES

2. Row Matrix
3. Square Matrix
4. Symmetric Matrix
5. Lower Triangular Matrix
6. Upper Triangular Matrix
TYPES OF MATRICES

2. Row Matrix
3. Square Matrix
4. Symmetric Matrix
5. Lower Triangular Matrix
6. Upper Triangular Matrix
7. Diagonal Matrix
8. Unit or Identity Matrix
9. Null Matrix
MATRIX OPERATIONS
1. Equality
2. Addition and Subtraction
3. Multiplication by a Scalar
4. Multiplication of Matrices
5. Transpose of a Matrix
6. Inverse of a Square Matrix
7. Orthogonal Matrix
MATRIX OPERATIONS||
Equality
Since both A and B are of order 3 × 2, and since each

element of A is equal to the corresponding element of B, the
matrices A and B are equal to each other; that is, A = B.
MATRIX OPERATIONS||
Addition and Subtraction
Calculate the matrices C = A + B and D = A − B if
MATRIX OPERATIONS||
Multiplication by a Scalar
Calculate the matrix B = cA if c = −6 and
MATRIX OPERATIONS||
Multiplication of Matrices
Two matrices can be multiplied only if the number of columns
of the first matrix equals the number of rows of the second
matrix.
Ex. Calculate the product C = AB of the matrices A and B.

MATRIX OPERATIONS||
An important application of matrix multiplication is to express
simultaneous equations in compact matrix form. Consider the
following system of linear simultaneous equations.
NOTE:
• Matrix multiplication is generally
not commutative.
in matrix form: • Matrix multiplication is

associative and distributive,
provided that the sequential
order in which the matrices are
to be multiplied is maintained.
or symbolically
MATRIX OPERATIONS||
Calculate the products AB and BA if
Are the products AB and BA equal?

MATRIX OPERATIONS||
Transpose of a Matrix
The transpose of a matrix is obtained by interchanging its
corresponding rows and columns. The transposed matrix is
commonly identified by placing a superscript T on the symbol
of the original matrix.
Example: The transpose of a
1. product of matrices
equals the product of the
transposed matrices in
reverse order
2.
MATRIX OPERATIONS||
Inverse of a Square Matrix
The inverse of a square matrix A is defined as a matrix A−1 with
elements of such magnitudes that the product of the original
matrix A and its inverse A-1 equals a unit matrix I; that is,
The operation of inversion is defined only for square

matrices, with the inverse of such a matrix also being a
square matrix of the same order as the original matrix.
MATRIX OPERATIONS||
Orthogonal Matrix
If the inverse of a matrix is equal to its transpose, the matrix is
referred to as an orthogonal matrix. In other words, a matrix A
is orthogonal if
Example.
Determine whether matrix A given below is an orthogonal
matrix.
EXERCISES
1. Show that (ABC)T = CTBTAT by using the following matrices
2. Determine whether matrix B given below is an orthogonal

matrix.
PLANE TRUSSES
OUTLINE:
1. Global and Local Coordinate Systems

2. Degrees of Freedom
3. Stiffness method of analysis
1. Member Stiffness Relations (Local Coordinate System)
2. Coordinate Transformations
3. Member Stiffness Relations (Global Coordinate System)
4. Structure Stiffness Relations
5. Procedure for Analysis
Summary
Problems
1. GLOBAL AND LOCAL
COORDINATE SYSTEMS
Global Coordinate System
The overall geometry and the load–deformation
relationships for an entire structure are described with
reference to a Cartesian or rectangular global
coordinate system.
Local Coordinate System

Defined for each member of the structure to derive the
basic member force–displacement relationships in terms
of the forces and displacements in the directions along
and perpendicular to members.
1. GLOBAL AND LOCAL
COORDINATE SYSTEMS
The origin of the local xyz coordinate system for a member may be arbitrarily
located at one of the ends of the member in its undeformed state, with the x axis
directed along the member’s centroidal axis in the undeformed state. The
positive direction of the y axis is defined so that the coordinate system is right-
handed, with the local z axis pointing in the positive direction of the global Z axis.
OUTLINE:

Summary
Problems
2. DEGREES OF FREEDOM
The degrees of freedom of a structure, in general, are

defined as the independent joint displacements
(translations and rotations) that are necessary to specify
the deformed shape of the structure when subjected to an
arbitrary loading.
Number of Degrees of Freedom (NDOF)
NDOF = NSC (NJ) – NR

Where:
•NDOF = number of degrees of freedom of the structure (someti
mes referred to as the degree of kinematic indeterminacy of the
structure);
•NSC = number of degrees of freedom of a free joint (also called
the number of structure coordinates per joint);
•NJ = number of joints;
•NR = number of joint displacements restrained by supports.
For plane trusses:

NDOF = 2 NJ – NR
2. DEGREES OF FREEDOM|
Numbering of DOF & Restrained Coordinates
DOF – represented by
Restrained Coordinate /
1.DOF is numbered starting at the lowest numbered joint that

has a DOF, and proceeding sequentially to the
highest-numbered joint.
In the case of more than one DOF at a joint, the translation in the X direction
is numbered first, followed by the translation in the Y direction. The first DOF is
assigned as “1”, and the last DOF is assigned a number equal to NDOF.
2.Once all the DOF of the structure have been numbered, we
number the restrained coordinates in a similar manner, but
begin with a number equal to NDOF+1. We start at the lowest-
numbered joint that is attached to a support, and proceed
sequentially to the highest-numbered joint.
In the case of more than one restrained coordinate at a joint, the coordinate
in the X direction is numbered first, followed by the coordinate in the Y
direction.
JOINT LOAD VECTOR
External loads applied to the joints of trusses are specified as force

components in the global X and Y directions. Any loads initially given in
inclined directions are resolved into their X and Y components, before
proceeding with an analysis.
in which P is called
the joint load
vector of the truss.
REACTION VECTOR
As indicated there, the
numbers assigned to the
restrained coordinates are
used to identify the support
reactions. In other words, a
reaction corresponding to an
ith restrained coordinate is
denoted by the symbol Ri. The
three support reactions of the
truss can be collectively
expressed in matrix form as
in which R is called the

reaction vector of the structure
ACTIVITY 2
Create an Analytic Model of the following structures
shown and identify numerically the degrees of freedom
and restrained coordinates of the structure shown. Also,
form the joint load vector P and reaction vector R for the
structure.
ACTIVITY 2
Create an Analyt ic Model of t he 2.
following structures shown and identify
numerically the degrees of freedom and
restrained coordinates of the structure
shown. Also, form the joint load vector P
and reaction vector R for the structure.
1.
OUTLINE:

Summary
Problems
3. STIFFNESS METHOD OF
ANALYSIS
(A.K.A. DIRECT STIFFNESS METHOD)
3. STIFFNESS METHOD OF ANALYSIS
In the stiffness method of analysis, the joint displacements,

d, of a structure due to an external loading, P, are
determined by solving a system of simultaneous equations,
expressed in the form
P = Sd
In which S is called the structure stiffness matrix.
Structure stiffness matrix is formed by assembling the

stiffness matrices for its individual member in global
coordinate system.
3. STIFFNESS METHOD OF ANALYSIS
GENERAL PROCEDURE
Local Member Stiffness Matrix, k
Tansformation Matrix Q=ku
Global Member Stiffness Matrix, K
F=Kv
Structure Member Stiffness Matrix, S
P = Sd
Where:
k = member stiffness matrix in the LCS
u = member end displacement vector in the LCS
Q = member end force vector in the LCS (Axial Force)
K = member stiffness matrix in the GCS
v = member end displacement vector in the GCS
F = member end force vector in the GCS
S = Structure stiffness matrix
d = joint displacements
P = external loading
GENERAL PROCEDURE
Tansformation Matrix Q=ku
F=Kv
Structure Member Stiffness Matrix, S
P = Sd
GENERAL PROCEDURE
OUTLINE: Tansformation Matrix Q=ku
F=Kv
1. Global and Local Coordinate SystemsStructure Member Stiffness Matrix, S
2. Degrees of Freedom P = Sd

Summary
Problems
3.1 MEMBER STIFFNESS RELATIONS
(LOCAL COORDINATE SYSTEM)
Objective:
Derive the stiffness matrix for the members of plane
trusses in the local coordinate system.
From Figs. b through f, we can see that
Q1 = k11u1 + k12u2 + k13u3 + k14u4
Q2 = k21u1 + k22u2 + k23u3 + k24u4
Q3 = k31u1 + k32u2 + k33u3 + k34u4
Q4 = k41u1 + k42u2 + k43u3 + k44u4
in which kij represents the FORCE at the location and in the direction of ki
required, along with other end forces, to cause a unit value of
displacement uj, while all other end displacements are zero.
These kij are called stiffness coefficients expressed in forces per unit
displacement (ex. N/m, lb/in)
Double subscript , kij : i = force and j = displacement)

By using the definition of matrix multiplication, the 4 equations of
Q can be expressed in matrix form as
or symbolically as Q=ku
Relate the axial force kij to axial deformation uj using the stress–strain
relationship for linearly elastic materials given by Hooke’s law as
σ=Eε
Where:
1
 
L
Thus,
Determine the values of the stiffness coefficients.
k11 = EA/L k12 = 0 k13 = -EA/L k14 = 0

k21 = 0 k22 = 0 k23 = 0 k24 = 0
k31 = -EA/L k32 = 0 k33 = EA/L k34 = 0
k41 = 0 k42 = 0 k43 = 0 k44 = 0
OR
Note:
Member stiffness matrix is symmetric

ACTIVITY 3
(FOR 20 MINUTES)
The displaced position of member 8 of the truss in Fig. (a) is

given in Fig. (b). Calculate the axial force, Q, in this
member. Is it under tension or compression?
ACTIVITY 3
If end displacements in
the local coordinate
system for member 9 of
the truss shown are
Calculate the axial force

in the member.
What is the global
member end force?
GENERAL PROCEDURE
F=Kv

Summary
Problems
3.2 Coordinate Transformations
When members of a structure are oriented in

different directions, it becomes necessary to transform the
stiffness relations for each member from its local
coordinate system to a single global coordinate system
selected for the entire structure. The member stiffness
relations as expressed in the global coordinate system are
then combined to establish the stiffness relations for the
whole structure.
3.2 Coordinate Transformations||
Transformation from Global to Local Coordinate Systems
Transformation from Global to Local Coordinate Systems||
Member End Forces
By comparing Figs. (b) and (c), we observe that at end

b of m, the local force Q 1 must be equal to the
algebraic sum of the components of the global forces
F1 and F2 in the direction of the local x axis; that is,
Q1 = F1 cos θ + F2 sin θ
Similarly, the local force Q2 equals the algebraic sum of
the components of F1 and F2 in the direction of the
local y axis. Thus,
Q2 = −F1 sin θ + F2 cos θ
By using a similar reasoning at end e, we express the
local forces in terms of the global forces as
Member End Forces
These equations can be written as:
Where:
In symbols:
T = TRANSFORMATION MATRIX
Where:
Q = TF Q = member end forces in LCS
F = member end forces in GCS
Member End Forces
The direction cosines of the member, necessary for the evaluation of T,

can be conveniently determined by using the following relationships:
in which Xb and Yb denote the global coordinates of the beginning joint

b for the member, and Xe and Ye represent the global coordinates of the
end joint e.
Letting λx = cos(θ) and λy = sin(θ) represent the direction cosines for the
member, we have  x y 0 0 
 
 y x 0 0 
T   
 0 0 x y 
 
 0 0  y  x 
Member End Displacement
The transformation matrix T, developed for transforming end forces, can

also be used to transform member end displacements from the global
to local coordinate system; that is,
From Q = T F :
u = Tv
where:
u = displacement in the LCS
v = displacement in the GCS
T = transformation matrix
Transformation from Local to Global Coordinate Systems
Transformation from Local to Global Coordinate Systems ||
Member End Forces
A comparison of Figs. (b) and (c) indicates that at end b of m,

F1 = Q1 cos θ − Q2 sin θ
F2 = Q1 sin θ + Q2 cos θ
F3 = Q3 cos θ − Q4 sin θ
F4 = Q3 sin θ + Q4 cos θ
These equations can be written as:
Where:
In symbols:
F = TT Q
Transformation from Local to Global Coordinate Systems ||
Member End Displacement
As discussed previously, because the member end

displacements are also vectors, which are defined in the same
directions as the corresponding forces, the matrix T also defines
the transformation of member end displacements from the local
to the global coordinate system; that is,
v = TT u
Where:
v = displacement in the GCS
u = displacement in the LCS
ACTIVITY 4
(FOR 10 MINUTES)
For the truss shown, the end displacements of member 2 (in

inches) in the global coordinate system are
Calculate the end forces for this member in the global
coordinate system. Is the member in equilibrium under these
forces.
0. 75
 0 
v2   
 1. 5
 2 
 
GENERAL PROCEDURE
F=Kv

Summary
Problems
3.3 Member Stiffness Relations
(Global Coordinate System)
First, we substitute the local stiffness relations Q = ku into
the force transformation relations F = TTQ to obtain
F = TT (ku)
Then, by substituting the displacement transformation
relations, u = Tv into it, we determine that the desired
relationship between the member end forces F and end
displacements v, in the global coordinate system, is
F = TT [k(Tv)]
F = Kv Where:
K = TT k T
K = global member stiffness matrix
3.3 Member Stiffness Relations
(Global Coordinate System)
F = Kv ; K = TT k T
Performing the matrix

multiplications, we obtain:
 2 2 
 x x y  x  x  y 
 
  
2
    
2 
E A  x y y x y y
K  

L  2 2 
  x x  y x x  y 
 
  x  y y 2 2
 x y  y 
 x y 0 0 
  Note: Like the member local stiffness
 y x
  0 0  matrix k, the member global stiffness
T    matrix K, is symmetric
 0 0 x y
 
 0 0 y x 
ACTIVITY 5
(FOR 10 MINUTES)
For the truss shown, the end displacements of member 2 (in

inches) in the global coordinate system are
Calculate the end forces for this member in the global
coordinate system. Is the member in equilibrium under these
forces. (This time, use Global Member stiffnes matrix)
0. 75
 0 
v2   
 1. 5
 2 
 
GENERAL PROCEDURE
F=Kv

Summary
Problems
3.4 STRUCTURE STIFFNESS
RELATIONS
3.4 Structure Stiffness Relations||
• Having determined the member force–displacement
relationships in the global coordinate system, we are now
ready to establish the stiffness relations for the entire structure.
The structure stiffness relations express the external loads P
acting at the joints of the structure, as functions of the joint
displacements d. Such relationships can be established as
follows:
1. The joint loads P are first expressed in terms of the member
end forces in the global coordinate system, F, by applying the
equations of equilibrium for the joints of the structure.
2. The joint displacements d are then related to the member
end displacements in the global coordinate system, v, by
using the compatibility conditions that the displacements of
the member ends must be the same as the corresponding
joint displacements.
3.4 Structure Stiffness Relations||
3. Next, the compatibility equations are substituted into the
member force–displacement relations, F = Kv, to express the
member global end forces in terms of the joint displacements d.
The F–d relations thus obtained are then substituted into the joint
equilibrium equations to establish the desired structure stiffness
relati onshi ps bet ween the joi nt load s P and the joi nt
displacements d.
OUTLINE FOR MATRIX STRUCTURAL ANALYSIS
ANALYTICAL MODEL
LINE DIAGRAM
which each joint and member is
identified by a number
Establish the global and Local

coordinate system
Identify the degrees of freedom
EVALUATE THE STRUCTURE

STIFFNESS MATRIX, S
Calculate its length and direction

cosines
Compute the global member

stiffness matrix, K
Identify the degrees of freedom
Identify its code numbers, and store

the pertinent elements of K in their
proper positions in S
(complete structure stiffness matrix

must be a symmetric matrix)
Procedure for Analysis

Find the Member end forces (LCS and GCS) and
displacements (GCS) for member 5 and
STRUCTURE STIFFNESS MATRIX, S
Assignment 1
Determine the joint

displacements, member axial
forces, and support reactions
for the trusses shown in the
figure using the matrix stiffness
method. Check the hand-
calculated results by using
GRASP.
Assignment 2
Determine the joint

displacements, member axial
forces, and support reactions
for the trusses shown in the
figure using the matrix stiffness
method. Check the hand-
calculated results by using
GRASP.
1. 2.

Matrix Structural Analysis (Truss)

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Matrix Structural Analysis (Truss)

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MATRIX STRUCTURAL

(a) stresses or stress resultants (i.e., axial forces,

Finite Element Method

1. Flexibility method (force or compatibility

*this course will focus on stiffness method (direct stiffness

• An analytical model is an idealized representation of a

*(In finite-element terminology, the members and joints of structures are

•each member is depicted by a •the joints and members

A structure is considered to be in equilibrium if, initially at

• Space (three-dimensional) structure

• Also known as stress-strain relations, describe the

A matrix is defined as a rectangular array of quantities

1. Column Matrix (Vector)

1. Column Matrix (Vector)

1. Column Matrix (Vector)

Since both A and B are of order 3 × 2, and since each

Ex. Calculate the product C = AB of the matrices A and B.

in matrix form: • Matrix multiplication is

Are the products AB and BA equal?

The operation of inversion is defined only for square

1. Show that (ABC)T = CTBTAT by using the following matrices

2. Determine whether matrix B given below is an orthogonal

1. Global and Local Coordinate Systems

Local Coordinate System

1. Global and Local Coordinate Systems

The degrees of freedom of a structure, in general, are

NDOF = NSC (NJ) – NR

For plane trusses:

1.DOF is numbered starting at the lowest numbered joint that

External loads applied to the joints of trusses are specified as force

in which R is called the

1. Global and Local Coordinate Systems

In the stiffness method of analysis, the joint displacements,

Structure stiffness matrix is formed by assembling the

Local Member Stiffness Matrix, k

Tansformation Matrix Q=ku

Global Member Stiffness Matrix, K

Structure Member Stiffness Matrix, S

Local Member Stiffness Matrix, k

Tansformation Matrix Q=ku

Global Member Stiffness Matrix, K

Structure Member Stiffness Matrix, S

Local Member Stiffness Matrix, k

OUTLINE: Tansformation Matrix Q=ku

Global Member Stiffness Matrix, K

1. Global and Local Coordinate SystemsStructure Member Stiffness Matrix, S

3. Stiffness method of analysis

Double subscript , kij : i = force and j = displacement)

k11 = EA/L k12 = 0 k13 = -EA/L k14 = 0

Member stiffness matrix is symmetric

The displaced position of member 8 of the truss in Fig. (a) is

Calculate the axial force

Local Member Stiffness Matrix, k

OUTLINE: Tansformation Matrix Q=ku

Global Member Stiffness Matrix, K

1. Global and Local Coordinate SystemsStructure Member Stiffness Matrix, S

3. Stiffness method of analysis

When members of a structure are oriented in

By comparing Figs. (b) and (c), we observe that at end

The direction cosines of the member, necessary for the evaluation of T,

in which Xb and Yb denote the global coordinates of the beginning joint

The transformation matrix T, developed for transforming end forces, can

A comparison of Figs. (b) and (c) indicates that at end b of m,

As discussed previously, because the member end