The thesis presents the model-based analysis and synthesis of an active and semiactive suspension for a tracked vehicle, the main focus is on the potential for improving driving comfort. At first there will be an overview of structure and requirements for track running gears as well as a series of design conflicts in suspension design will be identified. Then an efficient design methodology for complex mechatronic systems will be presented. The methodology supports the developer, in particular, to fix the design parameter. Based on the methodology, the vertical dynamics model and the development environments will be created. The model is the basis for a computer-aided analysis of the vertical-dynamics and the controller design. The control is based on strategies taken from the active suspension control of wheeled vehicles. They are adapted to the specific characteristics of a tracked suspension and extended accordingly. In addition, the functional requirements and design parameter upon the actuators will be determined. Finally the testing results of the active and semiactive suspension system integrated in the trial vehicle are presented. Due to the model-based studies and the methodical way of proceeding, it was possible to realise a substantial improvement of the vertical dynamics compared to that of a conventional suspension.