This paper addresses the problem of H-infinity and H-2 performance analysis of continuous-time affine single parameter-dependent systems with polynomially parameter-dependent Lyapunov matrices. First, some necessary and sufficient conditions in terms of linear matrix inequalities (LMIs) are provided using (D,G) scaling approach. Then, the results are used to deal with the problem of fixed-order H-infinity and H-2 controller design via bilinear matrix inequalities (BMIs) in a nonconservative way. Simulation results demonstrate the effectiveness of the proposed approach.