This work presents a framework to synthesize structured gain-scheduled
controllers for structured plants that are affected by time-varying parametric
scheduling blocks. Using a so-called lifting approach, we are able to handle
several structured gain-scheduling problems arising from a nested inner and
outer loop configuration with partial or full dependence on the scheduling
block. Our resulting design conditions are formulated in terms of convex linear
matrix inequalities and permit to handle multiple performance objectives.Comment: 16 pages, 4 figure