Soil-structure　interaction　(SSI)　can　potentially　compromise　structures　that　are　subjected　to　seismic　excitation.　In　recent　years,　real-time　hybrid　testing　(RTHT)　has　been　used　to　study　soil-structure　interaction.　However,　a　very　simple　soil　model　has　been　adopted　in　existing　hybrid　testing,　which　cannot　simulate　nonlinear　effects　in　a　soil-foundation　system　under　vigorous　seismic　shaking.　To　study　the　stability　and　accuracy　of　RTHT　for　nonlinear　SSI　and　to　evaluate　the　dynamic　impact　of　soil　nonlinearity　on　an　SSI　system,　real-time　hybrid　shaking　table　testing　was　performed　based　on　full-state　control　via　simulation　(FSCS),　in　which　the　soil-foundation　system　was　simulated　using　a　macroelement　model.　The　results　demonstrate　that　FSCS-controlled　RTHT　is　an　effective　approach　for　investigating　nonlinear　SSI.　The　nonlinear　characteristics　of　the　numerical　substructure　had　little　influence　on　the　stability　and　accuracy　of　RTHT　for　nonlinear　SSI　systems,　but　the　nonlinear　characteristics　of　the　soil　had　a　positive　effect　on　the　structural　seismic　response.　An　effective　dynamic　testing　method　was　proposed　for　the　SSI　studies.　©　2022,　The　Author(s),　under　exclusive　licence　to　Springer　Nature　B.V.