Abstract: In order to improve the anti-disturbance ability of PMSM servo systems, a double closed-loop control strategy based on active disturbance rejection controllers was proposed. Based on the mechanism of active disturbance rejection control and the mathematical model of PMSM servo systems, the design method of the position nonlinear 2 rd active disturbance rejection controller was presented, and the compound control of positions and speed was realized. In order to further reduce the influence of the motor parameter variation on the control system, the current extended state observer was introduced to estimate the disturbance. The current loop of active disturbance rejection controllers was designed, and the parameter design method of the linear disturbance rejection controller was given. Simulations and experiments results show that the proposed control strategy can reduce the influence of external torque disturbance and noise within the system on the performance of the system, and verified the PMSM servo system based on active disturbance rejection controllers is effective.