In this paper, the design of a two-level controller is proposed for active suspension systems. The required control force is computed by applying a high-level controller, which is designed using a linear parameter varying (LPV) method. The suspension structure contains nonlinear components, i.e., the dynamics of the dampings and the springs and the actuator dynamics. The model is augmented with weighting functions specified by the performance demands and the uncertainty assumptions. The actuator generating the necessary control force is a nonlinear state-dependent switching system, for which a low-level backstepping-based force-tracking controller is designed.