For passenger ride comfort, durability of the vehicle and also to safeguard the commercial products inside the vehicle, vibration of the vehicle suspension traversing on the rough road needs control. In this study a semi active approach is considered to reduce the vehicular vibrations. The main objective is to analyze the performance of magnetorheological (MR) damper used as a semi active suspension to improve the ride quality. Modified Bouc-Wen model has been chosen to model the behaviour of MR damper. As MR damper are hysteretic devices, their additions make the vehicular model nonlinear and therefore nonlinear control algorithms are best suited to cater this situations. This study looked into a two stage state feedback nonlinear control algorithm that has been devised to monitor MR damper input current with passenger comfort in mind, wherein primary controller is used to generate an ideal force required to obtain a desired closed loop system dynamics and then based on the secondary controller using dynamic inversion approach, current supplied to the MR damper has been obtained. In this paper, a quarter car model has been considered for the simulation. Simulation results are shown for different road excitations. Keywords: Dynamic Inversion, Quarter car model, Semi active suspension, MR Damper.