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Semi-active suspension systems have traditionally used accelerometers mounted on the wheel and body to sense vehicle motion. However, the cost and weight of these sensors and their associated bracketry and wiring must be considered when deciding to adopt a semi-active suspension system on a particular vehicle. In previous report [1], Authors have described a Bi-Linear Optimal control algorithm [2] by which sprung mass motion is estimated using height sensor signals and a Kalman filter. Such an algorithm would eliminate the need for additional accelerometers and their associated hardware, resulting in a cheaper and lighter system. In this report, the Authors propose a method of improved ride comfort and reducing tuning time of this algorithm by improving the sprung mass motion estimation method.