To overcome the allocation low efficiency for saturated effectors, a parameter-varying control allocation scheme including actuator dynamics is presented for the overactuated aircraft. By considering the actuator constraints and dynamics, the control allocation model of the overactuated aircraft is built. The nonlinear control allocation law of mixed optimization is linearized through taking the weight coefficients matrix as varying parameters. The parameter-varying control allocation model is formulated in terms of the linear matrix inequality, in the case of neglecting actuator dynamic or not, respectively. Then the parameters sensitivity for control allocation is studied. The simulation result shows the effectiveness of the proposed parameter-varying dynamics control allocation scheme.