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A static outputfeedback based finite frequency H∞ controller design method was proposed for vehicle active suspension systems. The static output-feedback controller gain matrix was directly derived via a single-step linear matrix inequality (LMI) optimization. As the previous finite frequency H∞ control theorem did not satisfy the sufficient conditions of single-step method and contained some bilinear terms. The static outputfeedback control problem of previous finite frequency H∞ control theorem was infeasible. A new static outputfeedback based finite frequency H∞ control theorem was given by using the generalized Kalman-Yakubovich-Popov (GKYP) lemma. The initial static output-feedback controller gain matrix can be directly solved by a single-step LMI optimization. Compared with the traditional iterative linear matrix inequality (ILMI) and cone complementarity linearization (CCL) algorithms, the design process was greatly simplified. The initial infeasibility issue of the static output-feedback control was resolved by using the state-feedback information. Finally, the effectiveness of the proposed method was validated by numerical and experimental results. The results for different road excitations showed that the finite frequency controlling can improve ride comfort effectively, while keeping suspension dynamic deflection, tire dynamic load and controlling input within allowable values.