Introduction to Matrix Analysis

of Structures
TRACE KTU

1
 Analysis of structures-basic methods
Displacement method
Force method (compatibility M) (Equilibrium M)
• Unknowns-Forces • Unknowns-Displacements
• Need-compatibility conditions • Need-Equilibrium equations
• Eg: Matrix flexibility method • Eg: Matrix stiffness method
TRACE KTU
Complexity of problem Complexity of problem
increases with DOR increases with DOF

2
 Matrix Methods
• Flexibility • Stiffness Method
Method(Force/compatibility (Displacement/Equilibrium
method) method)
– a flexibility matrix can be – a stiffness matrix can be
defined for a given structure defined for a given structure
with a pre-defined set of co- with a pre-defined set of co-
ordinates ordinates
– Each element of a flexibility – Each element of a stiffness
TRACE KTU
matrix represents a
displacement at a co-ordinate
matrix represents a force at a
co-ordinate i due to a
i due to a force at a co- displacement at a co-ordinate
ordinate j j.
– Easier for certain types of – Popular method
structures

Both method involves the calculation of

displacements due to forces or forces consistent
with displacements 3
 Matrix Methods-Flexibility & Stiffness

• L-length of the member,

Axial • A-area of c/sn of the member
Member
L, • E-Youngs Modulus of the member
P-Axial Force
A,
E •
PL

TRACE KTU
 AE
 L
  f , flexibility
P P AE
P AE Stiffness-
Flexibility-   k , stiffness
displacement  L Force/moment
required to
caused by a unit 1
force/moment
k produce unit
f displacement
Displacement-{deflection /rotation} 4
 Matrix Methods
Elementary co-ordinates
• 1-co-ordinate
• Indicates the point and
the direction of either
the force P or the
displacement , based
TRACE KTU on which flexibility f or
stiffness k are defined.
• Only one co-ordinate, ie
only one
flexibility/stiffness term.

5
 Matrix Methods
Elementary co-ordinates
• Flexibility:
Axial
Member 1 L
L, f11  
A,
P1 AE
E • Stiffness:

1
1 TRACE KTU k11 
P1 AE
1

L
• fij -Displacement at co-ordinate i due to unit
P1 force at co-ordinate j
• kij – Force at co-ordinate i due to unit
displacement at co-ordinate j
• i and j are same here, =1

Note: This example of axial bar is relevant to members of pin jointed

frames, which carry only axial forces. 6
 Matrix Methods
Elementary co-ordinates

Beam with 2 co-ordinates Beam with 3 co-ordinates

Figure 1 Figure 2
TRACE KTU
Beam element with 6 co-
ordinates

Figure 3
7
 Flexibility & Stiffness
-can apply unit forces at the 4 co-
Matrices ordinates, the corresponding
displacements are called flexibility
• Structural element : Beam with 4 terms. The flexibility of the system
co-ordinates
would be a matrix:  f11 f12 f13 f14 
f f 24 
 f    21
f 22 f 23
 f 31 f 32 f 33 f 34 
 
 f 41 f 42 f 43 f 44 
- Where fij is the displacement at i due
to a unit force at j
Joint A is fixed, no need to define - Can apply unit displacements at the 4
TRACE KTU
any co-ordinate at A.
1. Axial displacement/axial force
co-ordinates and the corresponding
forces sustaining these displacements
@ co-ordinate 1 are called stiffness terms
2. Transverse displacement - The stiffness of the system would be
/vertical force@ co-ordinate 2 a matrix:
 k11 k12 k14 
3. Rotation/Moment @ co-
k13
k k24 
ordinate 3 k    21 22
k k23
 k31 k32 k34 
4. Torsional 
k 33

displacement(twist)/torque@ k41 k42 k43 k44 
co-ordinate 4 - kij is the force at co-ordinate i due to
a unit displ at co-ordinate j 8
 Flexibility & Stiffness Matrices
• Beam (general) with 3 co-
ordinates • Flexibility matrix-33
matrix  f 11 f 12 f 13 
 f    f 21 f 22 f 23
 f 31 f 32 f 33

TRACE KTU • Stiffness matrix-33

No co-ordinates at Joint A matrix
1. Axial displacement/axial
force @ co-ordinate 1  k11 k12 k13 
2. Transverse displacement
/vertical force@ co-ordinate k   k21 k22 k23 
2  k31 k32 k33 
3. Rotation/Moment
@ co-ordinate 3
9
 Flexibility Influence Coefficients

• 1 kN @ co-ordinate 1
induces:
f11, f21, f31
• f11-axial displacement@ co-
Given beam with 3 co-ordinates
ordinate 1 due to a unit force
TRACE KTU @ co-ordinate 1.
• f21-transverse displacement@
co-ordinate 2 due to a unit
force @ co-ordinate 1.
• f31- rotation @ co-ordinate 3
Apply 1 kN @ co-ordinate 1
due to a unit force @ co-
ordinate 1.

10
 Flexibility Influence Coefficients

Apply 1 kN @ co-ordinate 2 Apply 1 kNm @ co-ordinate 3

1 kN @ co-ordinate 2 induces: 1 kNm @ co-ordinate 3 induces:

f12, f22, f32 f13, f23, f33
TRACE KTU
• f22-transverse displacement@ • f33-rotation @ co-ordinate 3 due to
a unit moment @ co-ordinate 3.
co-ordinate 2 due to a unit force
@ co-ordinate 2. • f13-axl displacement@ co-ordinate
• f12-axl displacement@ co- 1 due to a unit moment@ co-
ordinate 1 due to a unit force @ ordinate 3.
co-ordinate 2. • f23- transverse displacement @ co-
• f32- rotation @ co-ordinate 3 due ordinate 2 due to a unit moment @
to a unit force @ co-ordinate 2. co-ordinate 3.
11
 Flexibility Influence Coefficients

• The elements
{ f11, f12, f13},
{f21, f22, f23}
{f31,f32,f33}
are called flexibility
TRACE KTU influence coefficients
fij-displacement/rotation at
Given beam with 3 co-ordinates co-ordinate i due to a unit
force/moment at co-
ordinate j

12
 Displacement-force relations &
Flexibility matrix

• P1-External horzl force

• P2-External vertical force
• P3-External Moment

• D1-axial displacement at
TRACE KTU free end { due to P1, P2 and
P3}
Need to determine the • D2-transverse displacement
unknown displacements at the free end {due to P1, P2
D1, D2 and D3 due to the
and P3}
combined effect of the
forces P1, P2 and P3 • D3-rotation at the free end
{due to P1, p2 and P3}
13
 Displacement-force relations &
Flexibility matrix
• f11-displacement @1 due to
1 kN @ co-ordinate1
• D1(P1)-displ @ 1 due to P1
@ co-ordinate1
D1(P1)=f11*P1
Consider other displacements
TRACE KTU that may/may not occur due to
P1
I kN @ co-ordinate 1
• D2(P1)- displ @ 2 due to P1
@ co-ordinate1
D2(P1)=f21*P1
• D3(P1)- displ @ 3 due to P1
P1 kN @ co-ordinate 1, @ co-ordinate 1
Only axial displacement is considered D3(P1)=f31*P1 14
 Displacement-force relations &
Flexibility• matrix
f22-displacement @2 due to
1 kN @ co-ordinate2
• D2(P2)-displ @ 2 due to P2
@ co-ordinate2
D2(P2)=f22*P2
1 kN @ co-ordinate 2
Consider other displacements
that may/may not occur due
TRACE KTU to P2
• D1(P2)- displ @ 1 due to P2
P2 kN @ co-ordinate 2, only
@ co-ordinate2
vertical displ considered D1(P2)=f12*P2
• D3(P2)- displ @ 3 due to P2
@ co-ordinate 2
D3(P2)=f32*P2 15
 Displacement-force relations &
Flexibility matrix
• f33-displacement @3 due to
1 kNm @ co-ordinate3
• D3(P3)-displ @ 3 due to P3
@ co-ordinate3
D3(P3)=f33*P3
1 kNm @ co-ordinate 3
Consider other displacements
that may/may not occur due
TRACE KTU to P3
• D1(P3)- displ @ 1 due to P3
@ co-ordinate3
P3 kNm @ co-ordinate 3, only
rotation considered D1(P3)=f13*P3
• D2(P3)- displ @ 2 due to P3
@ co-ordinate 3
D2(P3)=f23*P3 16
 Displacement-force relations &
Flexibility matrix
By applying the Principle of
Superposition :

D1  D1( P1 )  D1( P 2 )  D1( P3 )

D2  D2 ( P1 )  D2 ( P 2 )  D2 ( P3 ) ......(1)
D3  D3( P1 )  D3( P 2 )  D3( P3 )
TRACE KTU
By incorporating the flexibility influence coefficients:

D1( P1 )  f11P1 D1( P2 )  f12 P2 D1( P3 )  f13 P3

D2 ( P1 )  f 21P1 D2 ( P2 )  f 22 P2 D2 ( P3 )  f 23 P3

D3( P1 )  f 31P1 D3( P2 )  f 32 P2 D3( P3 )  f 33 P3

17
 Displacement-force relations &
Flexibility matrix
Substituting the flexibility influence coefficients:

D1  f11P1  f12 P2  f13 P3

D2  f 21P1  f 22 P2  f 23 P3
D3  f 31P1  f 32 P2  f 33 P3
TRACE KTU
In the matrix form,

 D1   f11 f12 f13   P1 

     
 D2    f 21 f 22 f 23   P2 ....(2)
D   f f 32 f 33   P3 
 3   31
18
 Displacement-force relations &
D   f f
Flexibility
f  P 
matrix
    
f 23   P2 ....(2)
1 11 12 13 1

 D2    f 21 f 22
D   f f 32 f 33   P3 
 3   31

Dn1   f nn Pn1....( I )

TRACE KTU
Here n is the no of co-ordinates

{D} -Displacement Matrix

[f]-Flexibility Matrix, Square matrix,
elements are flexibility influence
coefficients
{P}-Load/Force Matrix

19
 Stiffness Influence Coefficients
• Unit displacement @ co-
ordinate 1 induces:
k11, k21, k31
• k11-horzl force@ co-ordinate 1
Given beam with 3 co-ordinates due to a unit displacement @
co-ordinate 1.
TRACE KTU Other forces may/may not occur
@ co-ordinates 2 and 3
• k21-vertical force@ co-
ordinate 2 due to a unit
displacement @ co-ordinate 1.
• k31- moment @ co-ordinate 3
Apply unit displacement due to a unit displacement@
@ co-ordinate 1, co-ordinate 1.
Other displ. are zero here
20
 Stiffness Influence Coefficients
k32

Apply unit displacement @ co- Apply unit rotation

ordinate 2, other displ. are zero @ co-ordinate 3, other displ are zero.
Unit displ. @ co-ordinate 2 induces:
Unit rotation @ co-ordinate 3 induces:
k12, k22, k32
k13, k23, k33
TRACE KTU
• K22-vertical force@ co-ordinate 2 due
to a unit displacement @ co-ordinate k33- moment @ co-ordinate 3 due to a
unit rotation @ co-ordinate 3.
2.
Other forces may/may not occur @ co- • Other forces may/may not occur @
ordinates 1 and 3 co-ordinates 1 and 2
• k12-horzl force@ co-ordinate 1 due to • k13-horzl force@ co-ordinate 1 due
a unit displacement @ co-ordinate 2. to a unit rotation @ co-ordinate 3.
• k32- moment @ co-ordinate 3 due to a • k23-vertical force @ co-ordinate 2
unit displacement @ co-ordinate 2. due to a unit rotation @ co-
ordinate 3. 21
 Stiffness Influence Coefficients

• The elements
{ k11, k12, k13},
{k21, k22, k23}
{k31,k32,k33}
are called stiffness influence
TRACE KTU coefficients
kij-force/moment induced at
Given beam with 3 co-ordinates co-ordinate i due to a unit
displacement/rotation at
co-ordinate j.

22
 Force-displacement relations &
Stiffness matrix

External force system { P1, P2, P3}

Net displacements – { D1, D2, D3}
P1-Horzl. Force @ co-ordinate 1
TRACE KTU
P2-Vertical Force @ co-ordinate 2
P3-Moment @ co-ordinate 3
D1-Horzl/axl displacement @ co-
ordinate 1 due to P1,P2 and P3

D2-Transverse/vertical displ @ co-ord

2, due to P1, P2 and P3

D3-Rotation @ co-ord 3, due to P1, P2

and P3
Model- beam with 3 co-ordinates
23
 Force-displacement relations &
Stiffness matrix
Axl displ @ co-ordinate 1 is D1
Corresponding forces are: P1(D1),
P2(D1) and P3(D1)
P1(D1)=k11D1; P2(D1)=k21 D1;
P3(D1)=k31*D1

Vert displ @ co-ordinate 2 is D2

P3(D2)
Corresponding forces are: P1(D2),
P2(D2) and P3(D2)
TRACE KTU P1(D2)=k12D2; P2(D2)=k22 D2;
P3(D2)=k32*D2

Rotation @ co-ordinate 3 is D3
Corresponding forces are: P1(D3),
P2(D3) and P3(D3)
P1(D3)=k13 D3; P2(D3)=k23 D3;
P3(D3)=k33*D3

Where kij, is the force induced at co-ordinate i due to unit displ at co-ordinate j 24
 Force-displacement relations &
Stiffness matrix
By applying the Principle of

P1  P1( D1 )  P1( D2 )  P1( D3 )

Superposition :

P2  P2( D1 )  P2 ( D2 )  P2 ( D3 ) ......(1)
P3  P3( D1 )  P3( D2 )  P3( D3 )
TRACE KTU
By incorporating the stiffness influence coefficients:

P1( D1 )  k11D1 P1( D2 )  k12 D2 P1( D3 )  k13 D3

P2 ( D1 )  k21D1 P2 ( D2 )  k22 D2 P2 ( D3 )  k23 D3
P3( D1 )  k31D1 P3( D2 )  k32 D2 P3( D3 )  k33 D3
25
 Force-displacement relations &
Stiffness matrix
Substituting the stiffness influence coefficients:

P1  k11D1  k12 D2  k13 D3

P2  k21D1  k22 D2  k23 D3
P3  k31D1  k32 D2  k33 D3
TRACE KTU
In the matrix form,

 P1   k11 k12 k13   D1 

     
 P2   k 21 k 22 k 23   D2 ....(2)
 P  k k33   D3 
 3   31 k32
26
  P1   k11 k12 k13   D1 
    
 P2   k21 k22 k23   D2 ....(2)
 P  k k33   D3 
 3   31 k32

Pn1  k nn Dn1....( II )

TRACE KTU
Here n is the no of co-ordinates

{P}-Load/Force Matrix
[k]-Stiffness Matrix, Square matrix,
elements are stiffness influence
coefficients
{D} -Displacement Matrix

27
 Relation between Flexibility matrix and Stiffness
matrix

Dn1   f nn Pn1......( I )

Pn1  k nn Dn1....( II )

{P}  [k ]{D}
TRACE KTU
{D}  [k ] {P}............( III )
|

Equations I and III are same

[k ]  [ f ]or[k ]  [ f ]
| |
28
Element Flexibility Matrix
of different types of
structural elements
TRACE KTU

29
 Element Flexibility Matrix
1. Derive the element flexibility matrix for the cantilever
element with given co-ordinates. (EI constant).

TRACE KTU
• Flexibility is the displacement/rotation caused by unit
force/moment
• 2 co-ordinates
• Co-ordinate1-indicates vertical force/vertical displacement
• Co-ordinate 2-indicates moment/rotation
Sign convention-Displacements are assumed positive
along the direction of the force 30
 Element Flexibility Matrix

f11-displacement at 1 due to unit

vertical force at 1
- occurs in the vertically downward
direction, same direction as that of
1kN force (direction of co-ordinate
1),hence it is taken +ve
Apply unit force
TRACE KTU
at co-ordinate 1 f21- rotation at 2 due to unit
1 L3 L3 vertical force at 1
f11   - occurs in the clock-wise
3EI 3EI direction, same direction as that

1 L2
of co-ordinate 2,hence it is taken
L2
f 21   +ve
2 EI 2 EI 31
 Element Flexibility Matrix

f12 –displacement at 1 due to unit

moment at 2
-occurs in the vertically downward
direction, same direction as that of co-
ordinate 1, hence it is taken +ve

Apply unit moment

TRACE KTU
at co-ordinate 2
f22 – rotation at 2 due to unit moment
1 L 2
L 2
at 2
f12   -occurs in the clock-wise direction,
2 EI 2 EI same direction as that of co-ordinate
1 L L 2,hence it is taken +ve
f 22  
EI EI
32
 Element Flexibility Matrix

 L3 L 
2

 f11 f12   3EI 

2 EI 
f 
TRACE KTU   2
 f 21 f 22   L L 
 2 EI EI 

Flexibility matrix is a Symmetric matrix

fij=fji
33
 Element Flexibility Matrix
2. Cantilever element with 3 co-ordinates

• f11-vertical displ at 1
due to unit force at 1
• f21-rotation at 2 due to
unit force at 1
• 3 co-ordinates • f31-axial displ at 3 due
• Flexibility matrix is 33
TRACE KTU to unit force at 1
matrix
• Ist column elements:
• Apply 1 kN at co-ordinate 1 L3
f11 
3EI
L2
f 21 
2 EI
f 31  0 34
 Element Flexibility Matrix
2. Cantilever element with 3 co-ordinates

• Apply 1kNm @ co-ordinate 2

L2
f12 
2 EI
L
TRACE KTU f 22 
• f12-vertical displ at 1 due to EI
unit moment at 2
• f22-rotation at 2 due to unit f 32  0
moment at 2
• f32-unit axial displ at 3 due
to unit moment at 3
35
 Element Flexibility Matrix
2. Cantilever element with 3 co-ordinates

• Apply unit horizontal

force at co-ordinate 3

f13  0
f 0
TRACE KTU 23

L
• f13-vertical displ at 1 due
f 33 
to unit hozl force at 3
• f23-rotation at 2 due to AE
unit horzl force at 3
• f32-axial displ at 3 due to
unit horzl force at 3
36
 Element Flexibility Matrix
2. Cantilever element with 3 co-ordinates

 f11 f12 f13 


f   f 21 f 22 f 23 
 f 31 f 32 f 33 

 L3
TRACE KTU L2 
 3EI 0 
 2 2 EI 
 L L
f  0 
 2 EI EI 
 L 
 0 0
AE 


37
 Element Flexibility Matrix
3. Cantilever element with 2 co-ordinates

L3
TRACE KTU f11 
3EI
L2
f 21  
2 EI

f21 is –ve because, rotation occurs in the clock wise direction

and Co-ordinate 2(given) is in the anti-clock wise direction .

38
 Element Flexibility Matrix
3. Cantilever element with 2 co-ordinates

f12 is –ve because, deflection occurs

in the upward direction and Co-
ordinate 1(given) is in the downward
direction .

TRACE KTU
L2
f12    L3 L2 
2 EI 
 3EI 2 EI 
f 22 
L f   2
EI  L L 
 2 EI EI  39
4. Set up the flexibility matrix for a beam element

L
f11 
3EI
L
f 21  
TRACE KTU 6 EI

f11 is clock wise, same direction of co-ordinate 1, hence +ve.

f21 is anti-clock wise, opposite direction of co-ordinate 2,hence -ve

40
4. Set up the flexibility matrix for a beam element

L
f12 is anti-clock wise, f12  
opposite direction of co-
6 EI
ordinate 1, hence -ve. L
TRACE KTU f 22 
f22 is clock wise, same 3EI
direction of co-ordinate
2,hence +ve
 L L 

f   L  2  1
 3EL 6 EL   L
L  6 EI  1 2 
 
 
 6 EI 3EI 

41
 Equivalent Joint Loads
• In matrix methods, loads are considered to act at
the joints/nodes
• Intermediate loading if any, needs to be
converted into equivalent joint load for easy
analysisTRACE KTU
• The equivalent joint loads are evaluated in such a
manner that the resulting displacements of the
structure are the same as the displacements
produced by actual loads.
42
 Equivalent Joint Loads
• Convert the intermediate
loads into equivalent joint
4m 4m load
• Equivalent joint loads are
Continuous beam with intermediate
evaluated in such a
TRACE KTU
loads
manner that the resulting
displacements of the
structure are the same as
the displacements
produced by actual loads

43
 Equivalent Joint Loads

Figure 1
Figure 2
TRACE KTU+
• The spans AB & BC along
with the loads acting at 4 kN
intermediate points are
converted into fixed end 4 kNm
beams, whatever may be
the boundary conditions.
Figure 3
Beam with equivalent joint loads
44
 Equivalent Joint Loads
4 kN

4 kNm

Given Beam
Beam with equivalent joint loads
Or
TRACE KTU
• The spans AB & BC along Beam with reversed fixed end actions

with the loads acting at

intermediate points are
converted into fixed end
beams, whatever may be
the boundary conditions.
45
 Equivalent Joint Loads
• It is Observed that some of the
reversed fixed end actions do not
contribute to internal force
components. Such forces are:
Given Beam 1) 4kN at A
4 2)4 kNm at A
kN
3)12 kN at B
4 kNm
TRACE KTU 4) 8 kN at C
These can be omitted without
Beam with equivalent joint loads causing error in the solution. A
structure obtained after removal
of these loads is known as
Analysis Structure.

Simply consider the forces/moments at

Analysis Structure the possible co-ordinates 46
Problem1: Find the equivalent joint loads and the analysis structure
for the portal frame shown in figure. (AB=BC=CD=4m)

Figure2: Fixed ended

TRACE KTU
Figure 1: Given Frame elements

Figure 1
=
Figure 2 + Figure 3

Figure3: Structure with Equivalent Joint loads 47

Problem1: Find the equivalent joint loads and the analysis
structure for the portal frame shown in figure.

TRACE KTU
Structure with Equivalent Joint
loads
Analysis Structure
1. Neglect the 6 kN force and 4 with eqvt joint loads
kNm moment at the fixed end.
2. Possible displacements(or co-
ordinates) are horzl sway, 2
rotations at the intermediate joints.
48
Problem2: Find the equivalent joint loads and the analysis
structure for the portal frame shown in figure.

B C

TRACE KTU
D
A
Given Frame Given frame-modified

49
Problem2: Find the equivalent joint loads and the analysis
structure for the portal frame shown in figure.

4kN

TRACE KTU
4kN

Fixed ended elements

Structure with Equivalent
Joint loads(due to 8 kN on
AB)

50
Problem2: Find the equivalent joint loads and the analysis
structure for the portal frame shown in figure.

B C

D
A TRACE KTU
Structure with Equivalent Joint Analysis Structure
loads
[Incorporate other external joint
loads if any] Forces neglected are:
1. 4 kN at the fixed end A
2. 4 kNm at the fixed end A
3. 1 kN at the intermediate joint C
Possible displacements are:
horzl sway, 2rotations at the
intermediate joints-B and C 51
Problem3: Find the equivalent joint loads and the analysis
structure for the beam shown in figure.

Given Beam

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2

Given Beam-Modified

52
Problem3: Find the equivalent joint loads and the analysis
structure for the beam shown in figure.

Fixed ended elements

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4

Beam with equivalent joint loads

(due to 8 kN on AB)
53
Problem3: Find the equivalent joint loads and the analysis
structure for the beam shown in figure.

Beam with equivalent joint

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loads-incorporating all the
joint loads

Analysis Structure

54
Problem4: Find the equivalent joint loads and the analysis
structure for the beam shown in figure.

TRACE KTU

55