In semi-active suspension control, comfort and road holding are two essential but confl icting performance objectives. In a previous work, the authors proposed an LPV formulation for semi-active suspension control of a realistic nonlinear suspension model where the nonlinearities (i.e the bi-viscous and the hysteresis) were taken into account an H/LPV controller to handle the comfort and road holding was also designed.-In semi-active suspension control, comfort and road holding are two essential but confl icting performance objectives. In a previous work, the authors proposed an LPV formulation for semi-active suspension control of a realistic nonlinear suspension model where the nonlinearities (i.e the bi-viscous and the hysteresis) were taken into account　an H/LPV controller to handle the comfort and road holding was also designed.