Combining　the　advantages　of　physical　testing　and　numerical　simulation,　real　time　dynamic　substructuring　(RTDS)　enhances　the　testing　capacity　of　the　test　facilities.　So　far,　RTDS　can　only　test　the　linear　behavior　of　structures　or　the　nonlinear　behavior　of　small　scale　specimen　limited　by　the　drawbacks　of　integration　and　control　algorithm.　Based　on　SIMULINK,　a　closed　loop　numerical　solution　scheme　is　developed　and　a　control　strategy　called　inverse　dynamics　compensation　via　simulation　is　established　to　improve　the　performance　of　numerical　solution　and　physical　control　in　RTDS.　The　RTDS　for　simulating　the　nonlinearities　of　large　scale　specimen　is　implemented　successfully.　The　performance　of　the　nonlinear　RTDS　is　verified　numerically　and　experimentally.　The　achievement　of　this　work　unleashes　the　potentiality　of　RTDS　greatly.　©　2017,　Editorial　Board　of　Journal　of　Vibration　Engineering.　All　right　reserved.