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Module 1
INTRODUCTION TO MATRIX
STRUCTURAL ANALYSIS
LEARNING OBJECTIVES
At the end of the lesson, the students will be able to:
• know theoretical foundation and historical background of matrix methods in
structural analysis;
• understand why matrix method is used in analysis of framed structures; and,
• know what framed structures are;
• differentiate classical, matrix and finite-element method in structural analysis;
• differentiate flexibility from stiffness method;
• know the terms used in matrix analysis like the elements and nodes of structures;
the global and local reference axes; the degree of freedom etc.

OVERVIEW
Structural analysis, which is an integral part of any structural engineering project, is the
process of predicting the performance of a given structure under a prescribed loading
condition. The performance characteristics usually of interest in structural design are:
a) stresses or stress resultants (i.e., axial forces, shears, and bending
moments);
b) deflections; and
c) support reactions.
Thus, the analysis of a structure typically involves the determination of these quantities as
caused by the given loads and/or other external effects (such as support displacements
and temperature changes). This subject is devoted to the analysis of framed structures—
that is, structures composed of long straight members. Many commonly used structures
such as beams, and plane and space trusses and rigid frames, are classified as framed
structures (also referred to as skeletal structures).
In most design firms today, the analysis of framed structures is routinely performed
on computers, using software based on the matrix methods of structural analysis. 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. The objective of this subject is to present the theory and computer implementation
of matrix methods for the analysis of framed structures in static equilibrium. This Module 1
provides a general introduction to the subject of matrix computer analysis of structures.

COURSE MATERIALS
1.0 HISTORICAL BACKGROUND

The theoretical foundation for matrix methods of structural analysis was laid by James C.
Maxwell, who introduced the method of consistent deformations in 1864; and George A.
Maney, who developed the slope-deflection method in 1915. These classical methods are
considered to be the precursors of the matrix flexibility and stiffness methods, respectively.
In the precomputer era, the main disadvantage of these earlier methods was that they
required direct solution of simultaneous algebraic equations—a formidable task by hand
calculations in cases of more than a few unknowns.
The invention of computers in the late 1940s revolutionized structural analysis. As
computers could solve large systems of simultaneous equations, the analysis methods
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yielding solutions in that form were no longer at a disadvantage, but in fact were preferred,
because simultaneous equations could be expressed in matrix form and conveniently
programmed for solution on computers.
S. Levy is generally considered to have been the first to introduce the flexibility
method in 1947, by generalizing the classical method of consistent deformations. Among
the subsequent researchers who extended the flexibility method and expressed it in matrix
form in the early 1950s were H. Falkenheimer, B. Langefors, and P. H. Denke. The matrix
stiffness method was developed by R. K. Livesley in 1954. In the same year, J. H. Argyris
and S. Kelsey presented a formulation of matrix methods based on energy principles. In
1956, M. T. Turner, R. W. Clough, H. C. Martin, and L. J. Topp derived stiffness matrices
for the members of trusses and frames using the finite-element approach, and introduced
the now popular direct stiffness method for generating the structure stiffness matrix. In the
same year, Livesley presented a nonlinear formulation of the stiffness method for stability
analysis of frames.
Since the mid-1950s, the development of matrix methods has continued at a
tremendous pace, with research efforts in recent years directed mainly toward formulating
procedures for the dynamic and nonlinear analysis of structures, and developing efficient
computational techniques for analyzing large structures. Recent advances in these areas
can be attributed to S. S. Archer, C. Birnstiel, R. H. Gallagher, J. Padlog, J. S.
Przemieniecki, C. K. Wang, and E. L. Wilson, among other

2.0 CLASSICAL, MATRIX, AND FINITE-ELEMENT METHOD OF STRUCTURAL

ANALYSIS

2.1) Classical versus Matrix Methods

As we develop matrix methods in subsequent topics, readers who are familiar with
classical methods of structural analysis will realize that both matrix and classical
methods are based on the same fundamental principles—but that the fundamental
relationships of equilibrium, compatibility, and member stiffness are now expressed in
the form of matrix equations, so that the numerical computations can be efficiently
performed on a computer.
Most classical methods were developed to analyze particular types of
structures, and since they were intended for hand calculations, they often
involve certain assumptions (that are unnecessary in matrix methods) to reduce the
amount of computational effort required for analysis. The application of these
methods usually requires an understanding on the part of the analyst of the structural
behavior. Because of their specialized and intricate nature, classical methods are
generally not considered suitable for computer programming.
In contrast to classical methods, matrix methods were specifically developed
for computer implementation; they are
• systematic (so that they can be conveniently programmed), and
• general (in the sense that the same overall format of the analytical
procedure can be applied to the various types of framed structures).
It will become clear as we study matrix methods that, because of the latter
characteristic, a computer program developed to analyze one type of structure (e.g.,
plane trusses) can be modified with relative ease to analyze another type of structure
(e.g., space trusses or frames).
As the analysis of large and highly redundant structures by classical methods
can be quite time consuming, matrix methods are commonly used. However,
classical methods are still preferred by many engineers for analyzing smaller
structures, because they provide a better insight into the behaviour of structures.
Classical methods may also be used for preliminary designs, for checking the results
of computerized analyses, and for deriving the member force–displacement relations
needed in the matrix analysis. Furthermore, a study of classical methods is
considered to be essential for developing an understanding of structural behavior.
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2.2) Matrix versus Finite Element Methods

Matrix methods can be used to analyze framed structures only. Finite-element
analysis, which originated as an extension of matrix analysis to surface structures
(e.g., plates and shells), has now developed to the extent that it can be applied to
structures and solids of practically any shape or form. From a theoretical viewpoint,
the basic difference between the two is that, in matrix methods, the member force–
displacement relationships are based on the exact solutions of the underlying
differential equations, whereas in finite-element methods, such relations are
generally derived by work-energy principles from assumed displacement or
stress functions. Because of the approximate nature of its force -displacement
relations, finite-element analysis generally yields approximate results.
Hence, Matrix Structural Analysis is truly a bridge course between introductory
analysis and finite element courses. The element stiffness matrix [k] will first be
derived using methods introduced in basic structural analysis, and later using energy
based concepts. This later approach is the one exclusively used in the finite element
method.
.
2.3) Classical, Matrix and Finite-Element Methods of Structural Analysis
Classical methods of structural analysis were developed to analyze particular type of
structures and were intended for hand calculations. Solutions often involve certain
assumptions to reduce the amount of computation. Moreover, because of specialized
and intricate nature of the solution, it is not suitable for computer programming.
Matrix method on the other hand, was specifically developed for computer
implementation. It is “systematic” (so that it can be conveniently programmed) and
“general” ( in the sense that the same overall format of analytical procedure can be
applied to various types of framed structure).
Finite-element analysis which originated as an extension of matrix analysis to
surface structures ( e.g. plates and shells ) has now developed to the extent that it
can be applied to structures and solids of practically any shape or form. Its basic
difference with matrix though is that, in matrix, the member force-displacement
relationships are based on the exact solutions of the equations, whereas, the finite-
element method, it is derived by the work-energy principle from assumed
displacement or stress functions.

3.0 FLEXIBILITY AND STIFFNESS METHOD

Two different methods can be used for the matrix analysis of structures:
a) the flexibility method, and
b) the stiffness method.
The flexibility method, which is also referred to as the force or compatibility method, is
essentially a generalization in matrix form of the classical method of consistent
deformations. In this approach, the primary unknowns are the redundant forces, which are
calculated first by solving the structure’s compatibility equations. Once the redundant
forces are known, the displacements can be evaluated by applying the equations of
equilibrium and the appropriate member force–displacement relations.
The stiffness method, which originated from the classical slope-deflection method, is
also called the 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. With the joint displacements known, the unknown forces are
obtained through compatibility considerations and the member force–displacement
relations.
Although either method can be used to analyze framed structures, the flexibility
method is generally convenient for analyzing small structures with a few
redundants. This method may also be used to establish member force-displacement
relations needed to develop the stiffness method. The stiffness method is more systematic
and can be implemented more easily on computers; therefore, it is preferred for the
analysis of large and highly redundant structures. Most of the commercially available
software for structural analysis is based on the stiffness method. In this module, we focus
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our attention mainly on the stiffness method, with emphasis on a particular version known
as the direct stiffness method, which is currently used in professional practice.

4.0 FRAMED STRUCTURES

Manny structures of engineering interest may be considered as an assemblage of line

(one-dimensional) members, that is, part whose lengths are large compared with their
other dimensions. The locus of the centroids of the cross sections of a line member is
called axis of the line member. This axis can be a straight line or a curve. A line member is
referred to as prismatic or cylindrical when the dimensions and orientation of its cross
section do not change along its length. Structures made up of line members joined
together are called framed structures

w w

(a) Actual Frame (b) Idealized Line Diagram

Figure 1. Idealization of framed structures

Framed structures are composed of straight members whose lengths are significantly
larger than their cross-sectional dimensions. They are idealized as shown in Figure 1(b)
before the analysis.
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

Common Types of Framed Structures

1) Plane Trusses
Trusses are framed structures whose members are straight and assumed
connected by frictionless pins; moreover, the axes of their members, which are
connected to the same joint are assumed to intersect a point. Trusses are loaded by
concentrated forces acting on their joints. Thus, truss members are not subjected to
end moments or to intermediate external actions. Consequently, they are subject
only to internal axial forces, including a uniform state of axial tension or
compression.

2 4

1 5
3
P
Figure 2. Plane truss

2) Space Trusses
Some trusses (such as lattice domes, transmission towers, and certain
aerospace structures) cannot be treated as plane trusses because of the
arrangement of their members or applied loading. Such trusses, referred to as
space trusses, are analyzed as three-dimensional structures subjected to three
dimensional force systems. The members of space trusses are assumed to be
connected by frictionless ball-and-socket joints, and the trusses are subjected to
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loads and reactions only at the joints. Like plane trusses, the members of space
trusses develop only axial forces.

3) Beams ( Plane / Space )

Beams are framed structures whose line diagram is a straight line. They are
subjected to external disturbances which induce internal forces and moments on
their cross sections. Planar beams are subjected to external forces lying on a plane
which passes through the shear center of their cross sections; this plane is parallel
to a plane which contains their axis and a principal centroidal axis of their cross
sections. Moreover the vector of the external moments acting on a planar beam is
normal to the plane of the external forces. Consequently, every cross section of a
planar beam rotates only about the axis normal to the plane of the external forces. It
does not twist, and does not translate in the direction normal to the plane of the
external forces. When the external forces and moments acting on a beam do not
meet one or more of the requirements described, the beam is called a space beam.

w P

Figure 3. Plane beams

4) Plane Frames
Frames are composed of straight members connected by rigid (moment resisting)
and /or flexible connections. Loads are applied on the nodes (joints) as well as on
the member’s length. If all the members of a frame and the applied loads lie in a
single plane, the frame is called a plane frame. The members of a plane frame are,
in general, subjected to bending moments, shears, and axial forces under the action
of external loads. Many actual three-dimensional building frames can be subdivided
into plane frames for analysis

w w

Figure 4. Plane frame

5) Space Frames
Space frames constitute the most general category of framed structures. Members
of space frames may be arranged in any arbitrary directions, and connected by rigid
and/or flexible connections. Loads in any directions may be applied on members as
well as on joints. The members of a space frame may, in general, be subjected to
bending moments about both principal axes, shears in principal directions, torsional
moments, and axial forces (Fig. 5).
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Figure 5. Space frames

6) Grids
A grid, like frame, is composed of straight members connected together by rigid
and/or flexible connections to form a plane frame work. The main difference
between the two is that in grids, loads are applied in the direction perpendicular to
the structure’s plane. Members of grid are therefore subjected to torsional moments,
in addition to bending moments and shear.

P P
P

w
w

Figure 6. Grid

5.0 ANALYTICAL MODELS

An analytical model is an idealized representation of a real structure for the purpose of

analysis. Its objective is to simplify the analysis of a complicated structure by discarding
much of the detail (about connections, members, etc.) that is likely to have little effect on
the structure’s behavioral characteristics of interest, while representing, as accurately as
practically possible, the desired characteristics. It is important to note that the structural
response predicted from an analysis is valid only to the extent that the analytical model
represents the actual structure.
In matrix methods of analysis, a structure is modeled as an assemblage of straight
members connected at their ends to joints. A member is defined as a part of the structure
for which the member force-displacement relationships to be used in the analysis are valid.
.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.
Supports for framed structures are commonly idealized as fixed supports, which do
not allow any displacement; hinged supports, which allow rotation but prevent translation;
or, roller or link supports, which prevent translation in only one direction. Other types of
restraints, such as those which prevent rotation but permit translation in one or more
directions, can also be considered in an analysis.
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Line Diagrams
The analytical model of a structure is represented by a line diagram, on which each
member is depicted by a line coinciding with its centroidal axis. The member
dimensions and the size of connections are not shown. Rigid joints are usually
represented by points, and hinged joints by small circles, at the intersections of
members. Each joint and member of the structure is identified by a number.
For example, the analytical model of the plane truss of Fig. 7(a) is shown in Fig.
7(b), in which the joint numbers are enclosed within circles to distinguish them from
the member numbers enclosed within rectangles.

Figure 7. Line diagram of plane truss

6.0 ELEMENTS AND NODES OF FRAMED STRUCTURES

When analyzing framed structures using the methods that will be presented, the
framed structures are subdivided into line elements whose ends are imagined as being
connected to a number of points called nodes. The ends of an element are referred to
as its nodal points. Thus a line element extends between two nodes, and it is either a
member of the structure or a portion of a member of the structure. The nodes of a
structure are its joints, its supports, the free end of its members, and any other points
that we may choose along the length of its members.

2 ④ 4

① ③ ⑤ ⑦
1 5
② 3 ⑥

Figure 8. elements and nodes numbering

The nodes and the elements of a structure are numbered consecutively, and the
number of each element is placed in a circle. Moreover, the ends of each element are
denoted by “j” and “k” ( j being the end of the element connected to the node having
the smallest number ).

Connectivity of the elements and nodes of the truss structure is shown in the table
below
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Element Node Number

Number End “j End “k”

1 1 2
2 1 3
3 2 3
4 2 4
5 3 4
6 3 5
7 4 5

7.0 GLOBAL AND LOCAL AXES OF REFERENCE

We refer each framed structures to a right-handed rectangular system of axes

_ _ _
(cartesian axes) x 1 , x 2 , x 3 called the global axes of the structure. Moreover, we
refer each element of a structure to a right-handed rectangular system of axes x1 , x2 ,
x3 called its local axes. As the local axes of an element, we choose the set of axes
whose origin is the centroid of the cross section at the end j of the element; its x1 axis
is directed along the axis of the element from its end j to its end k; its x2 and x3 axes
are the principal centroidal axes of the cross section at the end j of the element

x2
−
x2 3
② ③
2 4
x1
① ④
_
1 x1 5

Figure 9. Global axes of a planar frame and local axes of element 3

In the matrix stiffness method, two types of coordinate systems are employed to
specify the structural and loading data and to establish the necessary force
displacement relations. These are referred to as:
a. Global or structural coordinate system; and
b. Local or member coordinate system.

Global axis – refers to the axis to which the whole structure is referred to.
Local axis – refers to the axis to which an element (member) or each part of the
structure is referred to.

8.0 DEGREE OF FREEDOM OF FRAMED STRUCTURE

When a structure is subjected to loads, some of its nodes undergo translation and /
or rotations which are not known, while others undergo translations and rotations which
are known. For instance, the components of translation and rotation of a fixed support
are zero. We refer to the components of translation and rotation of a node as its
components of displacement.

The degree 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 arbitrary loading.

Δ2 Δ6
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Δ1 Δ5

Δ4 Δ8
Δ3 Δ7 Δ9

8.0 MODERN METHODS FOR ANALYZING FRAMED STRUCTURES

When we analyze a frame structure, we are interested in establishing the internal

actions in each of its elements as functions of its axial coordinate as well as one or
more components of displacement of some of its points.
The analysis of a framed structure is formulated either in terms of the components of
displacement of its nodes or in terms of some of its reactions and / or internal actions of
its elements.
The methods which employ the first formulation are called displacement or
stiffness methods. The direct stiffness or direct displacement methods have
originated from the classical slope-deflection method. The analysis of the framed
structure under this case is formulated in terms of the components of the
displacements at the nodes (joints).
The second formulation is called force or flexibility methods. The modern
flexibility or modern force method is also referred to as compatibility method. It is
essentially a generalization in matrix form of classical method of consistent-
deformation. The analysis of framed structures under this case is formulated in terms of
the reactions and / or internal reaction of the element.
In the modern methods of structural analysis, the element approach is used. That is,
a structure is subdivided into a number of elements, and its response is determined
from that of its elements. Thus the analysis of a structure is divided into two parts. The
first part is the response of its elements, while the second part is the response of the
structure.

(Note : The direct stiffness method is more systematic and can be implemented
more easily in computers, therefore, it is preferred for the analysis of large and highly
redundant structures.)

IV. ACTIVITIES / ASSESSMENTS