Considering one type of commercial vehicle suspension system, a full multi-body model with twenty Degree of Freedom is established with MSC.ADAMS. After evaluating such parameters as stiffness and damping of the simulation model, the effects of outside exciting on the suspension system are analyzed based on the simulation results. The harmonic response of the mass center of the seat at model coordinate space provides reference for the general performance of the suspension system. Finally, the robust control method was introduced to track the position successfully. The simulation results verified the system modeling and control design.