Abstract: The present invention provides a controller that is operative to receive body and wheel accelerations from the vehicle. The controller uses the body accelerations to calculate a Heave, Pitch and Roll (HPR) control signal. In addition, the controller uses the wheel accelerations to calculate a wheel control signal. The calculated wheel control signal and the HPR control signal are combined to create a damper control signal. Based on the damper control signal, the controller is able to move a wheel of the vehicle in the appropriate manner to handle various driving conditions.