Abstract: The present invention provides a novel bicyclic or tricyclic heterocyclic compound represented by the formula (I) wherein ring A is an optionally substituted aromatic group, one of X1 and X2 is a carbon atom, and the other is a nitrogen atom, X3 is a nitrogen atom, or CR2, X4 is a nitrogen atom, or CR3, X5 is a sulfur atom, or —CH?CH—, Z1 is an oxygen atom, —C(R6)(R7)—, —NH—, —C(R6)(R7)—NH—, —NH—C(R6)(R7)—, —C(R6)(R7)—O—, —O—C(R6)(R7)—, or a single bond, one of Z2 and Z3 is CH and the other is a nitrogen atom, or both are nitrogen atoms, and other symbols are as defined in the DESCRIPTION, or a pharmacologically acceptable salt thereof.

Abstract: The present invention provides a novel bicyclic or tricyclic heterocyclic compound represented by the formula (I) wherein ring A is an optionally substituted aromatic group, one of X1 and X2 is a carbon atom, and the other is a nitrogen atom, X3 is a nitrogen atom, or CR2, X4 is a nitrogen atom, or CR3, X5 is a sulfur atom, or —CH?CH—, Z1 is an oxygen atom, —C(R6)(R7)—, —NH—, —C(R6)(R7)—NH—, —NH—C(R6)(R7)—, —C(R6)(R7)—O—, —O—C(R6)(R7)—, or a single bond, one of Z2 and Z3 is CH and the other is a nitrogen atom, or both are nitrogen atoms, and other symbols are as defined in the DESCRIPTION, or a pharmacologically acceptable salt thereof.

Abstract: A first observer gain of an actual damping force estimating observer 21 calculates a dynamic characteristic compensating signal, and a second observer gain of an actual vehicle model state amount estimating observer 23 calculates a vehicle model compensating signal, from an output deviation corresponding to a difference between a sprung speed (observation output) provided from a vehicle 2 and an estimated sprung speed (estimated observation output) provided from a vehicle approximation model of the actual vehicle model state amount estimating observer 23. The dynamic characteristic compensating signal is input into a dynamic characteristic providing unit of the actual vehicle model state amount estimating observer 23, and is used for adjustment of the setting of the dynamic characteristic providing unit. Therefore, it is possible to curb time lag occurrence in a control, and thereby perform a vibration control with improved accuracy.

Abstract: The present invention provides a suspension control apparatus capable of an excellent vibration control by a model thereof designed to incorporate nonlinearity and a time-lag element of a control damper. The present invention employs the backstepping method which is one of nonlinear control methods, and is designed so as to incorporate the nonlinearity of a damper 4. In addition, a nonlinear controller 5 uses a damping force Fu obtained by expressing the dynamics of a damping force characteristic variable portion [damping force Fu(v, i)] by a first-order lag system, so as to compensate the dynamics of the damper 4, whereby a control system is formed so as to incorporate the time-lag element of the control damper. As a result, it is possible to reduce time lag, and to practically adjust a control force according to the characteristics of the control damper.

Abstract: A first observer gain of an actual damping force estimating observer 21 calculates a dynamic characteristic compensating signal, and a second observer gain of an actual vehicle model state amount estimating observer 23 calculates a vehicle model compensating signal, from an output deviation corresponding to a difference between a sprung speed (observation output) provided from a vehicle 2 and an estimated sprung speed (estimated observation output) provided from a vehicle approximation model of the actual vehicle model state amount estimating observer 23. The dynamic characteristic compensating signal is input into a dynamic characteristic providing unit of the actual vehicle model state amount estimating observer 23, and is used for adjustment of the setting of the dynamic characteristic providing unit. Therefore, it is possible to curb time lag occurrence in a control, and thereby perform a vibration control with improved accuracy.

Abstract: The present invention provides a suspension control apparatus capable of an excellent vibration control by a model thereof designed to incorporate nonlinearity and a time-lag element of a control damper. The present invention employs the backstepping method which is one of nonlinear control methods, and is designed so as to incorporate the nonlinearity of a damper 4. In addition, a nonlinear controller 5 uses a damping force Fu obtained by expressing the dynamics of a damping force characteristic variable portion [damping force Fu(v, i)] by a first-order lag system, so as to compensate the dynamics of the damper 4, whereby a control system is formed so as to incorporate the time-lag element of the control damper. As a result, it is possible to reduce time lag, and to practically adjust a control force according to the characteristics of the control damper.