The accuracy of micro-electro-mechanical systems (MEMS) gyroscopes is sensitive to variations of the drive mode resonance frequency ω 0. To tackle this problem, we propose an H ∞ control, which explicitly depends on ω 0 and guarantees, with reduced conservatism, a specified level of performance of the drive mode. We consider the design of continuous-and discrete-time controllers. We then propose a method based on the µ-analysis to validate the performance of drive mode control even if the frequency ω 0 is not perfectly measured. Numerical examples confirm the effectiveness of our approach.