Semi-active suspensions offer a large potential to improve the trade-off between ride comfort and road-holding compared to passive suspensions. In order to exploit this potential, the suspension control approach should explicitly consider the force limits of the semi-active damper. For this purpose, a linear parameter varying (LPV) plant model with a saturation indicator and a saturation transformer parameter was developed. This plant model allowed the synthesis of an LPV controller with guaranteed closed-loop stability and performance. In experiments carried out on a quarter-vehicle test-rig, the performance of the LPV controller was compared to passive suspension configurations and a Sky-Hook/Ground-Hook (SH/GH) controller. The results show that the LPV controller achieves a better trade-off between ride comfort and road holding while simultaneously reducing the suspension motion. After that, the SH/GH controller was excited on a four-post test rig and compared to a setup with constant damper current, thus emulating a passive suspension.