Abstract: This paper formulates the active suspension control problem as a disturbance attenuation problem with time-domain hard constraints. In the framework of multi-objective control, this paper suggests a mixed H2/generalized H2 control strategy based on LMI optimization for the disturbance attenuation problem with constraints: the generalized H2 norm is adapted to capture requirements of satisfying time-domain hard constraints and the H2 norm is used to minimize the performance output. The control problem with hard constraints is converted to an LMI based semidefinite programming problem. Analysis and simulation results for a half-car model are presented. Finally, integrative real-time experiments of RCP and HILS were made to validate the proposed control approache.