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This article evaluates the use of experimental frequency response functions for damage detection and quantification of a concrete beam with the help of model updating theory. The approach is formulated as an optimization problem that intends to adjust the analytical frequency response functions from a benchmark finite element model to match with the experimental frequency response functions from the damaged structure. Neither model expansion nor reduction is needed because the individual analytical frequency response function formulation is derived. Unlike the commonly used approaches that assume zero damping or viscous damping for simplicity, a more realistic hysteretic damping model is considered in the analytical frequency response function formulation. The accuracy and anti-noise ability of the proposed approach are first verified by the numerical simulations. Next, a laboratory reinforced concrete beam with different levels of damage is utilized to investigate the applicability in an actual test. The results show successful damage quantification and damping updating of the beam by matching the analytical frequency response functions with the experimental frequency response functions in each damage scenario.

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