In this paper, a new form of the Bouc–Wen model is identified. This model, which includes hysteresis loop, is suitable to use in controller design. The modified Bouc–Wen model is employed as an experimental model to identify the new model. Evaluation of the proposed model illustrated that this model has good accuracy in small velocity area. A novel approach of model predictive control is employed to derive the control input or magneto-rheological damper current, with respect to constraints. This controller gives analytical control law by means of the Karush–Kuhn–Tucker (KKT) optimization method in order to solve the constrained optimization problem. One of the main advantages of this controller is its analytical form, which allows easy implementation of the controller, and this special form leads to rapid calculation of the control input. Simulations show that the proposed control strategy establishes an appropriate trade-off between suspension criteria, including ride comfort and road holding.