This work presents a two-step LMI-based approach for the synthesis of State-Feedback and Static-Output-Feedback controllers for discrete-time Linear Parameter Varying systems. The benefit of the proposed approach lies on the fact that the two-step LMI method allows to enforce a common parametric structure on the controller for all the parameter space. This results in a final controller implementation that does not requires any interpolation step and thus, is of easy implementation. An illustrative example is given for an autonomous vehicle steering control design case.