Abstract: There were few researches to design one PID controller for setpoint regulation and disturbance rejection at the same time based on LPV model,even for a system with single model it was also difficult to find the same PID parameters meeting the above two performances for most of designs.Thus,the authors proposed a method designing PI controller for LPV model systems simultaneously meeting the required design specifications.First,an adaptive PI controller was designed to reject disturbance of LPV model system;Second,two forward gains parameters were proposed to justify the gains of the P and I terms respectively,in order to make the response satisfy the setpoint specification.Third,dynamically switching the forward gains parameters was used to make the response meet the above two specifications.This method was validated through simulations and experiments.