This paper focuses on quadratic performance analysis and output feedback gain-scheduling synthesis for parameter-dependent systems with linear fractional representations (LFRs). New quadratic H-2 and L-2 performance analysis results based on full-block multipliers are given. A novel gain-scheduling Output feedback synthesis, which can be regarded as a natural extension of the loop shaping design procedure of McFarlane and Glover to parameter-dependent systems, is proposed. This gain-scheduling technique is computationally attractive and yields a simple and transparent control structure that can be easily implemented. Its effectiveness is illustrated on a benchmark missile autopilot example. (C) 2008 Elsevier Ltd. All rights reserved.