The　stability　and　accuracy　of　real　time　dynamic　substructuring　(RTDS)　test　are　determined　by　the　dynamics　of　the　substructures–physical　and　numerical–and　especially　by　those　of　the　transfer　system　–　the　actuators　or　shaking　table　and　its　controller.　When　a　transfer　system　works　in　low　frequency　band,　its　dynamics　can　be　reduced　to　a　pure　time　delay　and　nulled　by　delay　compensation.　However,　the　frequency-dependent　magnitude　and　phase　errors　that　exist　in　the　more　complex　RTDS　test　when　higher　frequency　is　required　or　shaking　tables　are　used　as　transfer　system,　are　beyond　the　scope　of　delay　compensation.　Much　attention　has　recently　been　focused　on　developing　mathematical　models　to　represent　the　dynamics　of　servo-hydraulic　systems.　If　such　models　are　inverted,　they　can　conceivably　be　used　to　cancel　the　magnitude　and　phase　errors.　In　the　work,　this　conception　is　used　to　develop　a　new　controller　for　RTDS　test.　Based　on　the　Inverse　Dynamics　Compensation　via　Simulation　and　full-state　feedback　control,　the　new　controller　called　Full　State　Compensation　via　Simulation　(FSCS)　for　RTDS　test　was　proposed.　Both　analytical　and　experimental　investigation　demonstrated　that　FSCS　can　compensate　for　both　the　phase　lag　and　magnitude　errors　associated　with　complex　transfer　systems　such　as　shaking　tables.　©　2013　Earthquake　Engineering　Research　Institute.　All　rights　reserved.