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This study presents an effective dual algorithm for the optimal design of steel structures with displacement constraints. The dual method can replace a primary optimization problem with a sequence of approximate explicit subproblems with a simple algebraic structure. Since being convex and separable, each subproblem can be solved efficiently by the dual method. Specifically, this study uses the principle of virtual work to obtain the displacement constraint equations with an explicit form and adds the linear regression equation expressing the relationships between the cross-section properties to the dual algorithm to reduce the number of design variables. Furthermore, this study deals with the discrete optimization problem to select members with the standard steel sections. Through numerical analyses, the proposed method will be compared with the conventional optimality criteria method.