An magnetorheological damper useful in structural vibration control has a damper body and a moveable portion relative to the damper body. The damper includes an magnetorheological material contained within the damper body for resisting movement of the moveable portion. Rheology changes can be generated in the magnetorheological material owing to changes in a magnetic field, to which the magnetorheological material is exposed. The damper further includes at least a sensor embedded in the damper for monitoring an external force exerted on the damper, and for generating a signal to control the magnetic field and hence the resulting yield force and rheological damping of the damper in response to a variance in the external force.