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Hypersonic vehicle is characterized by its high altitude, fast velocity, complex flight environment, big span of mach number, as well as its inability to foresee coming disturbance. Based on the needs to design large envelope flight controller, this paper employed LPV (Linear Parameter Varying) method to model the hypersonic vehicle, and utilized μ-synthesis to design gain scheduled robust controller. Simulations imply that LPV modeling can be used in this type of vehicle. As we used status transition to linearize the nonlinear dynamics of the vehicle, the nonlinear information was successfully kept without leakage. Meanwhile, the adoption of μ-synthesis also has good robustness in designing controller, which can satisfy the design needs of gain scheduled control.