According to hybrid magnets’ dynamic description and electromagnet’s circuit equation, the hybrid suspension system model was built. In order to solve the problem that ordinary PID controller’s parameters was hard to maintain optimal values with disturbances’ occurrence of the instable system, parameters-optimized adaptive PID controller based on quadratic performance index was designed. The simulations indicated that the proposed controller improved system anti-interference and stability, achieving controller parameters real-time adaption when disturbances occurred.