In this paper, a new LPV control approach for semi-active automotive suspension equippedwith aMagneto- Rheological (MR) damper is presented. The interest of the approach is (1) to embed the model of semi-active suspension in a linear system design and (2) to allow limiting the damper force so that the controlled semi-active suspension works within its admissible region. First, a semi-active suspension model of an MR damper is reformulated in the LPV framework, which provides an LPV model for the vertical car behaviour. Then, by using the H1 control approach for polytopic systems, an LPV controller is synthesized to improve the passenger comfort while keeping the road-holding performances. The performances of the LPV controller are analyzed, based on simulations using the embedded nonlinear model of the MR damper