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This paper proposes an simple but yet effective approach to structuredparametric controller design in a linear fractional form. The main contributionconsists in using structured $\mathcal{H}_\infty$ oriented optimization toolsin an original manner to either (i) construct a parametric controller or (ii) afamily of controllers with varying performances. Practical and numerical issuesare also discussed to provide readers and practitioners a simple way to deploythe proposed process. The overall approach is illustrated through two numericalacademical (but still complex) examples illustrating two applications: first, aparametric controller design adapted to a parameter dependent model of aclamped beam and, second, a controller with parameter dependent performanceapplied on a building model.

Structured linear fractional parametric controller design with $\mathcal{H}_\infty$ performances