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In this paper, a Magneto-Rheological (MR) fluid semi-active suspension system was tested on a commercial vehicle, a domestic light bus, to determine the performance improvements compared to passive suspensions. MR fluid is a material that responds to an applied magnetic field with a significant change in its rheological behavior. When the magnetic field is applied, the properties of such a fluid can change from a free-flowing, low viscosity fluid to a near solid, and this change in properties takes place in a few milliseconds and is fully reversible. A quarter suspension test rig was built out to test the nonlinear performance of MR damper. Based on a large number of experimental data, a phenomenological model of MR damper based on the Bouc-Wen hysteresis model was adopted to predict both the force-displacement behavior and the complex nonlinear force-velocity response.