Solved... at least for me...

I've re-create parameters to array then sent them as queryParams
HTML
<a href="#" onclick="linknya('url','jumod','ikon','pilih:1')">Open Panel</a>
JS
function linknya(myurl,jumod,ikon, parameter) {
var param=[];
var arr1 = parameter.split(",");
var jum1 = arr1.length;
for (i = 0; i < jum1; i++) {
arr2 = arr1[i].split(":");
var key = arr2[0];
var val = arr2[1];
param[key] = val;
}
$('#panelDetail').panel({ fit:true, title:jumod, iconCls:ikon, href: myurl, queryParams: param });
}
Thanks...