Condition assessment and health monitoring of reinforced concrete structures is an essential part of their effective maintenance throughout their service life. Vibration-based damage detection and health monitoring is one of the most popular global approaches where experimentally measured modal parameters, such as frequencies, mode shapes, etc. are compared to their corresponding finite element counterparts to estimate possible stiffness loss. The present investigation implements a vibration-based parameter estimation algorithm for updating a finite-element (FE) model for damage assessment of reinforced concrete slabs using measured frequency response functions (FRF) data through a mixed numerical-experimental technique. An inverse eigen-sensitivity algorithm has been implemented to minimize the error function realized as the weighted differences in the mode shapes and frequencies of the FE model and the modal test data. Three reinforced concrete slabs were subjected to real physical damage conditions to verify the efficacy of the proposed methodology. The technique is found to be resilient in the presence of modal and coordinate sparsity. In general, damage can be assessed even if the portions of the structure are inaccessible to the users, thereby extending the possibility of its application to most of the practical configurations of reinforced concrete slabs.