Gain-scheduled robust control design method based on LMI was adopted to resolve the control problem of speed-dependent model varying for AMB-rotor system with strong gyroscopic effect. Speed-dependent LPV model was derived, and gain-scheduled robust controller was designed which can guarantee the robust stability and performance in the whole speed range. As for reducing the design conservation, controller design should have the speed range limit. Compared with the robust controller based on LTI model, LPV gain-scheduled robust controller guarantees the performances and realizes the adaptive parameter adjustment for the varying speed. The simulation validates the effectiveness and advancement of the designed controller.