This paper presents a Linear parameter varying (LPV) error system modeling between a real plant and its simplified model, and it is applied to some controller design methods for the real plants. The control methods are model predictive control and trajectory tracking control based on control Lyapunov function (CLF) using the LPV error system modeling. Some numerical simulations show the accuracy of the LPV error modeling of uncertainties and that the proposed controllers based on the LPV error modeling result in more accurate control performances.