Real-time hybrid testing is an attractive method to evaluate the response of structures under earthquake loads. The method is a variation of the pseudodynamic testing technique in which the experiment is executed in real time, thus allowing investigation of structural systems with ratedependent components. Real-time hybrid testing is challenging because it requires performance of all calculations, application of displacements, and acquisition of measured forces, within a very small increment of time. Furthermore, unless appropriate compensation for actuator dynamics is implemented, stability problems are likely to occur during the experiment. This paper presents an approach for real-time hybrid testing in which compensation for actuator dynamics is implemented using a model-based feedforward-feedback compensator. The method is used to evaluate the response of a semi-active control of a structure employing an MR damper. Experimental results show good agreement with the predicted responses, demonstrating the effectiveness of the method to test ratedependent and semi-active components.