We propose to apply cubic curves to express damping force characteristics of dampers using electrorheological (ER) fluid having apparent viscosity that can be modified by an electric field. The cubic curves can express damping forces decreasing with increasing in the piston speed of the damper. In conventional dampers, their damping forces usually increase with increasing in its piston speed. In this paper, we obtained the cubic curves minimizing the maximum acceleration of the mass of a vehicle model with ER dampers using an optimization method.