Abstract: The radiation damping of infinite foundation is difficult to treat in shaking-table tests. In this paper, a lumped parameter model of soil foundation is employed in the numerical substructure of real time dynamic hybrid testing (RTDHT). By coupling foundation calculation and structure model testing, this method obtains the structural response of the whole system considering soil-structure interaction (SSI). A two storey structure mounted on soil foundation has been tested on shaking table using RTDHT test method. The structural dynamic responses, including acceleration and shear force are obtained under soft soil and hard soil conditions. The RTDHT results are compared with results from the finite element method, demonstrating that RTDHT based on the lumped parameter soil foundation model can achieve satisfactory precision for experimental tests considering SSI effects. The effect of SSI on structural dynamic responses can be precisely obtained by RTDHT tests.