This paper aims to present a control law for active suspension. The goal of active suspension system is to control the vehicle's body and more precisely to control heave, pitch and roll despite driver's and road perturbation. Nevertheless, a control law should also integrate other demanding such as robustness and capacity to filter road irregularities. The structure of the proposed control law suits these constraints and is based on a cooperation between feedforward and feedback. Feedforward design is based on the vehicle physics. The feedback law is synthesized with a new methodological approach, the Standard State Control (2SC) which enables the designer to focus on the crucial trade-off between performance and robustness even for multivariable law.