A novel composite control strategy based on a shunting model PID and a compensative controller was developed for a class of nonlinear systems.The proposed controller has some excellent characteristics,such as nonlinear filtering,gain auto-regulation and robustness.Because the output of shunting model is stable,bounded and smooth,it is used to construct the PID controller with bounded and smoothed output and gain auto-regulation.This kind of controller can be employed in designing a class of safe control systems.The shunting model based PID controller is integrated with a robust compensative controller so that it could effectively solve the robust control problem for a class of nonlinear systems with parametric uncertainty.By the simulation study of an inverted pendulum control,the effectiveness of the proposed control strategy is demonstrated.