In this paper, a controller called dynamic matrix constrained variable structure controller (DM-CVSC) is proposed. The controller takes advantages of both dynamic matrix (DM) and constrained variable structure controllers. As a result, DM-CVSC is a robust trajectory tracking controller dealing with the constraints on control inputs and also makes decision based on the future behavior of the vehicle. The controller is applied to a linearized model of half-car suspension systems which are subject to different types of road disturbances and measurement noises. In this paper, it is shown that there is a simple formulation for calculating the range of sliding gains for single-input single-output (SISO) linear control systems. As for the multi-input multi-output (MIMO) linear control systems, the calculation of upper sliding gain profile for controller leads to a search problem. To show the efficiency of the proposed controller, it is applied to four different cases involving specific road disturbances and measurement noises. The performance of the proposed controller is compared to various control techniques.