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A linear parameter varying (LPV) controller design example for the position and attitude control of a spacecraft is presented. The six degree-of freedom (DOF) model including the aerodynamics is described. Simulations with the nonlinear 6-DOF model show the usefulness of the design procedure. The practical problem of "fast dynamics" in the controller is solved by an ad hoc method based on the use of a single quadratic Lyapunov function with pole clustering constraints for each frozen linear time invariant (LTI) system in the parameter variation set. The results show that the method facilitates simulation and allows for addressing implementation aspects such as the sampling rate.