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The research described in this paper focused on improving occupant ride comfort and road holding by suppressing sprung and unsprung vibration using a semi-active suspension system. It has been reported that occupants tend to perceive vertical vibrations in a frequency range between 4 and 8 Hz as uncomfortable (described below as the “mid-frequency range”). Previous research into semi-active suspension system has focused on reducing vibration in this mid-frequency range, as well as close to the sprung resonance frequency of between 1 and 2 Hz. Skyhook damper (SH) control is a typical ride comfort control used to damp vibration close to the sprung resonance frequency. However, since SH control is not capable of damping vibration in the mid-frequency range, the shock absorbers are configured with a lower damping factor. This helps to achieve a good balance between reducing vibration close to the sprung mass resonance and in the mid-frequency range.