In this paper, we propose a new control design approach for linear fractional transformation (LFT) systems using parameter-dependent Lyapunov functions. Instead of assuming parameter dependency in LFT fashion, we consider general parameter-dependent controllers to achieve better closed-loop performance. Using full-block multipliers, new LPV synthesis conditions have been derived in terms of finite number of linear matrix inequalities (LMIs). Both continuous- and discrete-time cases are discussed. A ship steering example has been used to demonstrate advantages and benefits of the proposed approach. (c) 2005 Elsevier Ltd. All rights reserved.