a vehicle chassis system control for use in a vehicle with a first suspension that induces a phase shift on body motion components of wheel speed sensor signals from a first set of wheel speed sensors connected to a first set of wheels mounted to the first suspension , comprising the steps of : sensing first rotational velocities of the first set of wheels using the first set of wheel speed sensors ; sensing second rotational velocities of a second set of wheels mounted to a second suspension using a second set of wheel speed sensors ; estimating at least one modal velocity of a body of the vehicle responsive to the first and second rotational velocities , wherein the step of estimating comprises the sub - steps of : imposing a relative phase shift between the first and second rotational velocities to compensate for the phase shift induced by the first suspension , transforming the relative phase shifted first and second rotational velocities to a signal indicative of a modal velocity of the body of the vehicle using a comer to body modal transform , and filtering at least one member of a set comprising the first and second rotational velocities and the signal indicative of the modal velocity of the body of the vehicle , to isolate body frequency components of said at least one member ; determining a chassis system control command responsive to the estimation ; and applying the chassis system control command to a chassis system actuator to control the chassis system responsive to the estimation .