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In this paper, a family of linear models previously obtained from a series of closed-loop system identification tests for a variable valve timing cam phaser system is used to design a dynamic gain-scheduling controller. Using engine speed and oil pressure as the scheduling parameters, the family of linear models was translated into a linear parameter varying (LPV) system. An observer-based gain-scheduling controller for the LPV system is then designed based on the linear matrix inequality technique. A discussion on weighting function selection for mixed H2/H∞ controller synthesis is presented, with an emphasis placed on examining various frequency responses of the system. Test bench results show the effectiveness of the proposed scheme.