The investigation of this paper revolves around the problem of designing mixed H 2 ∕H ∞ model reference control (MRC) systems of linear parameter-varying discrete-time systems. In this paper, two types of mixed H 2 ∕H ∞ MRC systems are considered. These two types are the mixed H 2 ∕H ∞ state-feedback and the mixed H 2 ∕H ∞ dynamic output-feedback MRC systems that are designed using a parameter-dependent Lyapunov function. The experimental results of the aeropendulum system are used to evaluate and show the effectiveness of the proposed controllers. The results indicate the satisfactory performances of the closed-loop systems.