The chapter proposes the design of a hierarchical controller of an active suspension system for a full-car vehicle. The performance specifications are met by a high-level controller, in which the control input is a demanded virtual force. For the design of the high-level controller linear parameter varying (LPV) methods, in which both the performance specifications and the uncertainties of the model are taken into consideration, are proposed. The generation of the forces is based on the road disturbances and the measured signals. Once the desired forces are provided by the high-level, the actuator must track these reference signals by adjusting its spool valve. The actuator which is designed to carry out force-tracking is modelled as a nonlinear system. Control design in the low-level is based on the backstepping method. The modular design of both the high-level controller for the performance specifications and the low-level controller for the actuator has several advantages: it results in reduced-complexity models for the control design and changes in the actuator level do not affect the design of the high-level controller.