This work presents the development of controllers for Linear Parameter Varying (LPV) systems, for cases where the exogenous parameters are not available. Instead of considering a static feedback gain, a procedure for estimating the parameters is presented, along with the synthesis of a parameter-dependent state-feedback gain robust to parametric estimation uncertainties. This work presents the estimation and control laws, as well as the convergence and stability conditions. Numerical experiments illustrate the conservatism reduction, and the dynamic performance of the method applied in uncertain dynamic systems.