Structural control systems can effectively protect structures from dynamic loads. Passive control systems are widely accepted, but active and hybrid systems remain under development with a variety of implementation related issues yet to be resolved. The current research focuses on overcoming some of these problems. A hybrid sliding isolation system is considered. This nonlinear controller is ideal for examining many practical issues; moreover, results obtained with this system may be applied to a variety of active and hybrid controllers. New nonlinear control algorithms, which account for implementation imperfections, are developed and validated with realistic experimental models. The results show that the control system is able to significantly reduce the peak responses and the energy input, proving that many of the implementation issues may be overcome with well designed controllers and current technology.