Gene expression depends on the cellular con-text. One major contributor to gene expression variability is competition for limited transcriptional and translational re-sources, which may induce indirect couplings among otherwise independently-regulated genes. Here, we apply control theoretical concepts and tools to design an incoherent feedforward loop (iFFL) biomolecular controller operating in mammalian cells using translational-resource competition couplings. Harnessing a resource-aware mathematical model, we demonstrate analytically and computationally that our resource-aware design can achieve near-constant set-point regulation of gene expression whilst ensuring robustness to plasmid uptake variation. We also provide an analytical condition on the model parameters to guide the design of the resource-aware iFFL controller ensuring robustness and performance in set-point regulation. Our theoretical design based on translational-resource competition couplings represents a promising approach to build more sophisticated resource-aware control circuits operating at the host-cell level.