This paper proposes a design method of optimal DVDFB (direct velocity and displacement feedback) controller for attitude control of flexible spacecraft whose flexible solar paddles rotate at the orbital rate. The DVDFB controller with collocated sensors and actuators is known to be promising from the robust stability viewpoint even for such a linear parameter varying system. However, the optimal design method is not still well-developed. For this problem, we propose to design an optimal DVDFB controller gain based on LMI (linear matrix inequality) in the H_∞ control framework using GKYP (generalized Kalman-Yakubovich-Popov) lemma. Some numerical simulations are performed to demonstrate the ability.