I agree with Evan that this is not an easy task.
A PID loop could help with the discontinuity but hurt other things. Here are my thoughts.
PID at output of "Simulate Signal"
This would smooth the transition but would also round-off the max and mins. Probably not good.
PID to control Amplitude and offset
Once you have this tuned, it may do what you want if you can tolerate the delay.
Filtering
Here you have to tolerate some phase shift as in the above. You are also caught in a catch 22 because you do not want the dicntinuity when the settings change but meanwhile the triagle wave is an endless series of cusps.
Let us know what ends up working for you.
Ben