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In the current paper, the modal characterisation of aramid–carbon fiber hybrid composites (ACFRP) and ACFRP reinforced with silica nanoparticles (nACFRP) is investigated through the analytical-experimental transfer function method. The modal properties, such as resonant frequencies and modal loss factors, are measured by vibrating cantilever beam specimens with an impact hammer, while the vibratory response is detected through an acceleration transducer. The procedure for the identification of analytical-experimental transfer functions is carried out using a genetic algorithm by minimising the difference between the measured response from tests and the calculated response, which is a function of the modal parameters. The analytical transfer functions provide a substructuring process to identify modes, as a function of damped natural frequencies and loss factors of a complex structure, and it is insensitive to experimental noise as well as the modal coupling effect. The validation of the proposed method is verified with 10 degrees of freedom mass-spring dashpot model. The effectiveness of the proposed method is demonstrated by investigating the static and dynamic behaviour of the ACFRP and nACFRP specimens. Results indicate that the inclusion of nanosilica particles increase the stiffness of the ACFRP, although the damping response of the reinforced specimens is moderately improved. [ABSTRACT FROM AUTHOR]