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Pseudodynamic hybrid simulation has emerged as an advanced seismic analysis technique that balances the accuracy of experimental testing with the efficiency of numerical modelling. However, complex interactions associated with large-scale multiaxial testing can limit the reliability of the approach. This thesis develops a numerical simulation method that models the physical behaviour of experimental substructures, and combines it with the UT-SIM framework. The method effectively constructs a virtual laboratory through the development and validation of robust numerical component models. This includes an OpenSees ActuatorElement, and techniques for capturing actuator hinge friction, frame flexibility, feedback noise, and LVDT measurements. An extensive validation program assembles the components and inserts numerical specimens to conduct multiaxial pseudo dynamic hybrid simulations. The results demonstrate that the numerical method accurately replicates the physical experimental behaviour, and establishes a platform for the rapid development and evaluation of control strategies and error compensation algorithms, which does not require physical testing.