Abstract: A hydraulic active suspension for suspending a vehicle body on a plurality of vehicle wheels. Actuators act between each vehicle wheels and a corresponding portion of the vehicle exert a suspension force therebetween and are controlled to increase or decrease the suspension force according to a feedback control amount calculated so that the height of a corresponding portion of the vehicle body approaches a target value. A feed forward control amount is calculated to counteract a vertical force component of a side force applied to the vehicle body due to an acceleration, braking, and/or turning of the vehicle. Finally, a compensation amount is calculated to compensate for a vertical component of a force acting between each vehicle wheel and the ground surface due to acceleration, braking and/or turning of the vehicle, this vertical component being generated based on the structure of a suspension link mechanism.