This paperpresentsthedesignandsuccessfulexperimentalvalidationofalinearparameter-varying (LPV) controlstrategyforafour-degrees-of-freedomcontrolmomentgyroscope(CMG).TheMIMOplant is highlycoupledandnonlinear.First,alinearizedmodelwithmovingoperatingpointisusedto construct anLPVmodel.Then,agridding-basedLPVstate-feedbackcontrolisdesignedthatclearly outperforms lineartime-invariant(LTI)controllers.Moreover,awayisproposedtoselectpre-filter gains for referenceinputsthatcanbegeneralizedtoalargeclassofmechanicalsystems.Overall,thestrategy allowsasimpleimplementationinreal-timeandmaybeofinterestforapplicationssuchasattitude control ofasatellite.ThemethodisappliedtoalaboratoryscaleCMG,andexperimentalresultsillustrate that theproposedLPVcontrollerachievesindeedabetterperformanceinamuchwiderrangeof operation thanlinearcontrollersreportedintheliterature