In this research, a multi-objective frequency domain-constrained static output feedback control is developed for the delayed active suspension system with wheelbase preview information. Firstly, the model of the half-vehicle active suspension system with wheelbase preview information and time delay is constructed by employing the augmented method. Secondly, in vertical vibration, the human body senses are more intense when the frequency of the external disturbance is in the range of 4–8 Hz. Therefore, a finite frequency control method is proposed for the controller design with robust H and generalized H performance. Thirdly, considering that a full online knowledge of states is not available in practical suspension systems, a static output feedback strategy is proposed to guarantee the feasibility of the controller by using a two-stage method. Finally, simulation study is given to explain the effectiveness and superiority of the presented controller.