A new approach to the design of a gain scheduled output feedback controller without a varying-parameter rate feedback is presented. First, the controller design is translated into parameterized linear matrix inequalities for the parameter matrices. Then, the sufficient condition is given for the partition of the varying-parameter set based on the concept of H_∞ performance covering. The varying-parameter set is thus partitioned into sufficiently small subsets. After the constant matrices are found for each of the subsets, the required continuous parameter matrices are obtained by using interpolation. The proposed controller overcomes the drawback that the gain scheduled controller may not be found by using the existing gain scheduled linear parameter varying (LPV) synthesis. Moreover, the varying-parameter rate feedback is eliminated and the conservation of the controller design is reduced by means of limiting the upper bound of the varying-parameter rate. Experiment results prove the effectiveness of the proposed controller.