This paper describes the synthesis of a self-scheduled controller robust wi
th respect to parametric uncertainties. Traditionally, scheduling is done a
posteriori by interpolation of gains computed for several points within th
e parameter space. The method proposed here. named (Mu-mu)-iteration, is ba
sed on worst-case analysis and multi-model eigenstructure assignment. It pe
rmits the designer to synthesize a robust low order controller by consideri
ng a priori its dependence of some scheduling parameters. The method is the
n applied to derive a robust missile autopilot. (C) 2001 Elsevier Science L
td. All rights reserved.