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Abstract-In this paper, we present a new H ∞ /LPV control method to improve the trade-off between comfort and suspension travel. Firstly, a semi-active automotive suspension equipped with a nonlinear static semi-active damper is presented. Secondly, the semi-active suspension system is reformulated in the LPV framework which can be handled in a polytopic way. Finally, in numerical analysis, to emphasize the performance of the proposed controller, the end-stop event is introduced. The results show that the proposed method provides a good improvement in comfort and suspension travel compared with other strategies.