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It combines a proportional\u2013integral\u2013derivative controller for suspension deflection together with a sliding mode reference conditioning outer loop that uses the vertical acceleration of the car body as a complementary source of control. The proposed approach is software-based and allows setting up limit values to critical variables, such as the vertical acceleration, which can be directly tuned by the system designer to range from the original proportional\u2013integral\u2013derivative response to other ones with tighter control on the constrained variable. A longitudinal half-car system subject to irregular excitation from a road surface is used for assessment. The proposed proportional\u2013integral\u2013derivative with sliding mode reference conditioning is compared to the same proportional\u2013integral\u2013derivative controller without the outer conditioning loop, as well as with a passive suspension system. International standards on overall vibration magnitudes are used to quantify the differences obtained in this assessment. Results obtained from the proposed control system show better performance and handle trade-offs, improving the ride comfort without adversely affecting the road holding of the car. <\/jats:p>","DOI":"10.1177\/0959651817745469","type":"journal-article","created":{"date-parts":[[2017,12,11]],"date-time":"2017-12-11T09:58:01Z","timestamp":1512986281000},"page":"223-232","update-policy":"http:\/\/dx.doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":8,"title":["Limiting vertical acceleration for ride comfort in active suspension systems"],"prefix":"10.1177","volume":"232","author":[{"ORCID":"http:\/\/orcid.org\/0000-0002-1839-2036","authenticated-orcid":false,"given":"Fabian","family":"Le\u00f3n-Vargas","sequence":"first","affiliation":[{"name":"Research Group in Energy and Materials, Facultad de Ingenier\u00eda Mec\u00e1nica, Universidad Antonio Nari\u00f1o, Bogot\u00e1, 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