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The field of vehicle dynamics has seen significant advancements in recent years, particularly in the area of suspension control systems. Among these systems are the semi-active suspension control systems that are capable of controlling two-degree-of-freedom, four-degree-of-freedom, and seven-degree-of-freedom vehicles. These systems make use of advanced algorithms and computational models to optimize the vehicle's suspension and improve its overall performance. One important aspect of these systems is the use of an accurate whole vehicle model, which takes into account all relevant factors such as vehicle weight, tire characteristics, and road conditions. Through the use of these advanced suspension control systems, vehicles can achieve greater stability, handling, and comfort, making them safer and more enjoyable to drive.