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Abstract

This paper reviews the most commonly used numerical methods for solving the differential equation governing the dynamic response of linear elastic Single-Degree-of-Freedom (SDOF) systems. For more than 80 years since its introduction, the response spectrum has remained the cornerstone of every seismic design code. The second-order differential equation that governs the dynamic response of a linear elastic SDOF system must be solved numerically to generate such response spectra. Although only one or two well-accepted time-discretization methods have been predominantly used by the earthquake engineering community over the past decades, these methods are directly or indirectly related to a broader family of methods for solving Linear Time-Invariant (LTI) systems, which have been extensively applied in other branches of engineering, particularly electrical engineering. It has recently come to my attention that a portion of our community, particularly students, may not be fully familiar with these methods. In this paper, I review these methods and describe their mathematical background, with a focus on the relative displacement of the SDOF system under ground acceleration-an essential quantity for various types of response spectra. I also briefly review some of the numerical methods traditionally used within our community, highlighting their similarities and differences. I evaluate the accuracy of all numerical methods introduced in this paper through several examples with available analytical solutions. This study focuses on time-domain solutions that can be employed for real- or near-real-time response prediction, which is particularly important for applications such as earthquake early warning and post-earthquake assessment. The paper is written to enable readers to implement these methods with minimal effort; however, MATLAB codes for all methods discussed are also provided.