Many types of passive control devices have been recognized as effective tools for improving the seismic resistance of structures. A lot of past research has been carried out to study the response of structures equipped with energy-absorbing devices by assuming that the behavior of the beam-column systems are linearly elastic. However, linear theory may not be adequate for beams and columns during severe earthquakes. This paper presents the results of research on the nonlinear responses of structures with and without added passive devices under earthquakes. A new material model based on the plasticity theory and the two-surface model for beams and columns under six components of forces is proposed to predict the nonlinear behavior of beam-column systems. And a new nonlinear beam element in consideration of shear deformation is developed to analyze the beams and columns of a structure. Numerical results reveal that linear assumption may not be appropriate for beams and columns under seismic loadings, especially for unexpectedly large earthquakes. Also, it may be necessary to adopt nonlinear beam elements in the analysis and design process to assure the safety of structures with or without the control of devices.