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Base on the accurate inverse of a system,the feedfor-ward compensation method can compensate the tracking error of a linear system dramatically.However,many control systems have complex dynamics and their accurate inverses are difficult to obtain.In the paper,a variable parameter model is proposed to describe a system and a multi-step adaptive seeking approach is used to obtain its parameters in real time.Based on the proposed model,a variable-parameter-model-based feedforward compens-ation method is proposed,and a disturbance observer is used to overcome the influence of the model uncertainty.Theoretical ana-lysis and simulation results show that the variable-parameter-model-based feedforward compensation method can obtain bet-ter performance than the traditional feedforward compensation.