This paper presents a methodology for the shape control of structures undergoing inelastic deformations. The methodology presented herein is based on an active control algorithm derived from standard numerical integration methods that uses corrective pulses to limit the response of a structure that has already entered the inelastic range. Material nonlinearities of the kind exhibited by the rubber bearings are accounted for by use of standard incremental/iterative procedures. According to the way data is acquired, the algorithm is classified as closed-loop control with a non-optimal type of control rule.