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The class of systems under consideration is: NEWLINE\\[NEWLINE\\begin{aligned} \\dot x(t) &= [A(t)+ \\Delta A(t)] x(t)+ B_1u(t)+ B_2 w(t),\\\\ y(t) &= [C_1+ \\Delta C_1(t)] x(t)+ D_1w(t),\\\\ z(t) &= C_2 x(t)+ D_2u(t),\\end{aligned}NEWLINE\\]NEWLINE where \\(x(t)\\in \\mathbb{R}^n\\) is the state, \\(u(t)\\in \\mathbb{R}^n\\) is the control input, \\(w(t)\\in \\mathbb{R}^r\\) is the disturbance, \\(y(t)\\in \\mathbb{R}^n\\) is the measurement, and \\(z(t)\\in \\mathbb{R}^q\\) is the controlled output, \\(A\\), \\(B_1\\), \\(B_2\\), \\(C_1\\), \\(C_2\\) and \\(D_2\\) describe the nominal system, \\(\\Delta A(t)\\), \\(\\Delta C(t)\\) are assumed to be of the form: NEWLINE\\[NEWLINE\\Delta A(t)= H_1F(t) E,\\quad\\Delta C_1(t)= H_2F(t)E,NEWLINE\\]NEWLINE where \\(F(t)\\in \\mathbb{R}^{i\\times j}\\) is an unknown matrix satisfying \\(F^T(t) F(t)\\leq I_i\\), \\(\\forall t\\).NEWLINENEWLINENEWLINEThe full order controllers derived are not only guaranteed to satisfy a prespecified \\(H_\\infty\\) disturbance attenuation level for all admissible parameter uncertainties, but also provide an optimal bound for the worst-case \\(H_2\\) cost function.NEWLINENEWLINENEWLINEThe obtained results require the solutions of one parameter-dependent algebraic Riccati equation and three coupled parameter dependent nonlinear equations.NEWLINENEWLINENEWLINEA numerical algorithm for solving these parameter dependent nonlinear equations is also 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