This paper presents a new mathematical model to describe the dynamic behavior of a magnetorheological damper. The proposed model is based on a modification to the well‐known LuGre friction model; it is simpler than other models already suggested in the literature and offers a similar level of accuracy. To validate the proposed model, experimental tests applying controlled and random displacements and currents on a commercial damper were performed. Parameter identification algorithms were then used to fit the parameters that better describe the dynamic behavior of the damper. The identification scheme includes a closed‐loop observer to estimate the internal state of the friction model. Results demonstrate very good model performance and indicate that the proposed model can be readily used in the design of semi‐active control algorithms, state observers and on‐line parameter identification schemes. Copyright © 2004 John Wiley & Sons, Ltd.

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