In order to improve the performance of altitude holding control on unmanned powered paraglider,we proposed an integral-ahead control method with tracking differentiator (TD-IPD).Taking interference problems of differential unit into account,and based on integral-ahead controller deprived from the Linear Quadratic Optimal Control (LQOC),the tracking differentiator was introduced for separating the desired signal from interference,and fsun(·),the optimal control synthesis function was used to simplify the required proceeding for reaching steady state.To avoid integral saturation,a saturation compensation scheme was used to modify integral control law for increasing the anti-saturation ability.The effectiveness of the proposed method was verified by a simulation with Matlab taking height control of a certain unmanned powered paragilder as an example.