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In recent years, researchers have focused on structural health monitoring (SHM) and damage detection techniques using nonlinear vibration and nonlinear ultrasonic methods. Fatigue cracks may exhibit contact acoustic nonlinearity (CAN) with distinctive features such as superharmonics and subharmonics in the power spectrum of the sensing signals. However, challenges have been noticed in the practical applications of the harmonic methods. For instance, superharmonics can also be generated by the piezoelectric transducers and the electronic equipment; super/subharmonics may also stem from the nonlinear boundary conditions such as structural fixtures and joints. It is hard to tell whether the nonlinear features come from the structural damage or the intrinsic nonlinear boundary conditions. The objective of this paper is to demonstrate the application of nonlinear ultrasonic subharmonic method for detecting fatigue cracks with nonlinear boundary conditions. The fatigue crack was qualitatively modeled as a single-degree-of-freedom (SDOF) system with non-classical hysteretic nonlinear interface forces at both sides of the crack surfaces. The threshold of subharmonic generation was studied, and the influence of crack interface parameters on the subharmonic resonance condition was investigated. The different threshold behaviors between the nonlinear boundary condition and the fatigue crack was found, which can be used to distinguish the source of nonlinear subharmonic features. To evaluate the proposed method, experiments of an aluminum plate with a fatigue crack were conducted to quantitatively verify the subharmonic resonance range. Two surface-bonded piezoelectric transducers were used to generate and receive ultrasonic wave signals. The fatigue damage was characterized in terms of a subharmonic damage index. The experimental results demonstrated that the subharmonic component of the sensing signal can be used to detect the fatigue crack and further distinguish it from inherent nonlinear boundary conditions. [ABSTRACT FROM AUTHOR]