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Vehicle semi-active suspension systems can provide a satisfactory compromise of ride comfort and handling stability. With the rapid developments of damping control methodologies, ride comfort is expected to be improved in all three directions, i.e., vertical, roll, and pitch. Considering this kind of multi-objective coordinated control problem, Model Predictive Control (MPC) gains lots of attention in the recent decade. However, the MPC algorithm is expensive for real-time implementations due to its computational complexity. This paper introduces an integrated Skyhook and Linear Quadratic Regulator (LQR) control approach, which can be easily processed on an automotive-grade microcontroller because of its concise algorithm. Meanwhile, it has great potential in attenuating vehicle body vibrations in vertical and rotational directions at the same time. Its control performances are evaluated through the co-simulation between CarSim and MATLAB/Simulink based on three different road conditions. The Buick Enclave, which is a full-size sport utility vehicle (SUV), is modeled in CarSim. The results demonstrated the control efficiency of the integrated Skyhook-LQR approach, which is even better than MPC, especially in vertical and pitch directions.