This article is concerned with the control of a Semi-Active suspension system of a 7DOF Full Vehicle model, equipped with four Electro Rheological (ER) dampers, taking into account their incipient dissipativity constraints. Herein, a Real-Time, fast, advanced control structure is presented within the Model Predictive Control framework for Linear Parameter Varying (LPV) systems. The control algorithm is developed to provide a suitable trade-off between comfort and handling performances of the vehicle in a very limited sampling period (T s = 5 ms), in the view of a possible realtime implementation on a real vehicle. The control structure is tested and compared to other standard fast control approaches. Full nonlinear realistic simulation results illustrate the overall good operation and behaviour of the proposed control approach.