A formulation of an LPV control problem with regional pole placement constraints is presented, which is suitable for the application of a Full Block S-Procedure. It is demonstrated that improved bounds can be obtained on the induced L 2 norm of closed loop systems, while satisfying pole placement constraints. An application consisting in the 6 degrees of freedom (DOF) control of a space vehicle is developed as an example, with hardware in the loop (HIL) simulation. This shows that the method is appealing from the practical point of view, considering that the synthesized control law can be implemented satisfactorily in standard flight control systems. Conclusions with remarks towards the practical use of the method are presented as well.