In　this　paper,　a　scheme　is　put　forward　to　design　pulses　which　drive　a　three-level　system　based　on　the　reverse　engineering　with　Lewis-Riesenfeld　invariant　theory.　The　scheme　can　be　applied　to　a　three-level　system　even　when　the　rotating-wave　approximation　(RWA)　can　not　be　used.　The　amplitudes　of　pulses　and　the　maximal　values　of　detunings　in　the　system　could　be　easily　controlled　by　adjusting　control　parameters.　We　analyze　the　dynamics　of　the　system　by　an　invariant　operator,　so　additional　couplings　are　unnecessary.　Moreover,　the　approaches　to　avoid　singularity　of　pulses　are　studied　and　several　useful　results　are　obtained.　We　hope　the　scheme　could　contribute　to　fast　quantum　information　processing　without　RWA.　©　2017　by　WILEY-VCH　Verlag　GmbH　&　Co.　KGaA,　Weinheim