The dynamics of a vehicle is greatly affected by longitudinal and vertical vibrations caused by uneven road surfaces. The aim of this master’s thesis work is to compensate the longitudinal acceleration oscillations, and to reduce the sprung mass motions in term of heave and pitch. The innovation in this research work is represented by an integration control strategy of active suspension and in-wheel motor control for ride comfort optimization that has not been explored yet. Electric vehicles equipped with in-wheel powertrains provide significantly enhanced wheel torque control performance, because of the accuracy and fast dynamics of electric motors, in comparison with the conventional internal combustion engines and friction brakes.