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Virtual machine (VM) consolidation offers a promising approach to saving energy and improving resource utilization in cloud data centers. However, the aggressive consolidation of VMs may lead to Service-level agreement (SLA) violations, which are essential for data centers and their users. Therefore, it is essential to find a tradeoff between the reduction in SLA violation level and energy costs. In this paper, we improve and expand our Host state 3rd-order Markov chain (HS3MC) model proposed in our previous research comprehensively:we propose a new VM selection algorithm, an improved VM placement algorithm, and an HS3MC-based VM consolidation algorithm based on our improved HS3MC model for the SLA-aware and energy-efficient consolidation of VMs in cloud data centers. We evaluate our proposed algorithms on an extended Cloudsim simulator using the PlanetLab workload and a random workload. Specifically, we improve and expand the OpenStack Neat experimental platform, and evaluate the performance of our algorithms in a real cloud environment based on OpenStack. The experimental results show that our proposed model can significantly reduce the SLA violation rates while maintaining energy efficiency.