A semi-active force tracking PI controller is formulated and analyzed for a magnetorheological (MR) fluid-based damper in conjunction with a quarter-vehicle model. Two different models of the MR-damper are integrated into the closed-loop system model, which include: a model based upon the mean force-velocity behavior; and a model synthesis comprising inherent non-smooth hysteretic force and the force limiting properties of the MR damper. The vehicle models are analyzed to study the vibration attenuation performance of the MR-damper using the semi-active force tracking PI control algorithm. The simulations results are also presented to demonstrate the influence of the damper nonlinearity, specifically the hysteresis, on the suspension performance. The results show that the proposed control strategy can yield superior vibration attenuation performance of the vehicle suspension actuated by the controllable MR-damper not only in the sprung mass resonance and the ride zones, but also in the vicinity of the wheel-hop. The results further show that the presence of damper hysteresis deteriorates the suspension performance.