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This paper presents the design of a two-loop, force/suspension travel PID control system, for a four degree-of-freedom (DOF), nonlinear, half-car active vehicle suspension system (AVSS). The two-loop system consists of an inner PID hydraulic actuator force control loop and an outer PID suspension travel control loop. Performance of the PID based AVSS is compared to a passive, nonlinear, half-car suspension system with the same model parameters. The simulation results showed the superior performance of the AVSS in the presence of the deterministic road disturbance.