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In this paper a new active suspension scheme for vehicles with non-linearities is proposed. The proposed scheme makes the vehicle suspension system follow a modified skyhook model and is based on the sliding-mode control strategy augmented by the so-called inertial delay control which estimates and negates the effects of the unknown road profile and the uncertainties in the suspension system. The accuracy of estimation is analysed and it is shown that the estimation error is ultimately bounded. The means to improve the accuracy of estimation are outlined and the overall stability of the suspension system is proved. The efficacy of the method is illustrated by simulation for an automobile vehicle suspension system for various road profiles.