This paper presents an LPV method for Fault Estimation, considering Electro-Rheological dampers of automotive suspension systems. Faults upon the dampers are modelled as Loss of Effectiveness multiplicative factors, which are estimated with the proposed approach. This framework is based upon an LPV extended-state observer, whose gain is derived from the mixed H 2 /H ∞ norm minimization. The method is discussed through simulation and validation tests are realized in a real vehicle test-bench in order to demonstrate the truthfulness and capability of the framework to identify faults on Electro-Rheological dampers.