State-feedback gain-scheduling controller synthesis with guaranteed performance is considered in this brief. Practical assumption has been considered in the sense that scheduling parameters are assumed to be uncertain. The contribution of this paper is the characterization of the control synthesis that parameterized linear matrix inequalities (PLMIs) to synthesize robust gain-scheduling controllers. Additive uncertainty model has been used to model measurement noise of the scheduling parameters. The resulting controllers not only ensure robustness against scheduling parameters uncertainties but also guarantee closed-loop performance in terms of and performances as well. Numerical examples and simulations are presented to illustrate the effectiveness of the synthesized controller. Compared to other control design methods from literature, the synthesized controllers achieve less conservative results as measurement noise increases.