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This work is concerned with robust dynamic output feedback controller design for a simplified aircraft model F-18 which can be rewritten as a LPV system. A general LMI-based two-step approach is proposed to tackle this problem. Such a separation procedure overcomes the limitation of traditional approach that can not be applied to the linear parameter varying (LPV) system. Numerical results show the proposed controller can ensure simultaneous quadratic stability with H∞ performance and satisfactory dynamic performance for a selected flight envelop containing some operating points.