This paper presents a new methodology for suspension control in view of global chassis control, developed in particular to guarantee greater driving safety and comfort. The control of the suspension subsystem allows to improve the vehicle road holding (safety) and passenger comfort but not at the same time. In order to reach them for every driving situation, an “adaptive” two degree of freedom controller for active suspensions is proposed. This control architecture is ”open” and could be linked and aggregated to many other controllers of vehicle dynamics. This control strategy ensures on one hand the robustness in performances with respect to parameter uncertainties, and on the other hand the trade-off between road holding and comfort. The proposed design is based on the LPV/Hinf theory. Robust stability and performances are analyzed within the μ- analysis framework.