Abstract: In order to improve the anti-disturbance performance and speed tracking performance of the permanent magnet linear synchronous motor (PMLSM) under load disturbance, parameter variation and any other uncertainties, this paper proposes a speed control method based on cascaded linear-nonlinear active disturbance rejection controller (CL-NLADRC). First, the mathematical model of PMLSM considering load disturbance and parameter mismatch is established. Then, a cascaded linear-nonlinear extended state observer (ESO) is designed to estimate and compensate the uncertain disturbances in real time. The front-stage linear ESO ensures system stability under large disturbances, and the back-stage nonlinear ESO uses the nonlinear mechanism to further improve the estimation accuracy of the disturbances. Therefore, the advantages of linear and nonlinear active disturbance rejection control are combined to further improve the speed tracking performance and disturbance rejection ability of the system. In addition, the proposed method is analyzed for stability based on Rouse criterion, and the anti-disturbance performance and noise rejection performance of the system are also analyzed in the frequency domain. Finally, simulations and experimental comparisons of PMLSM systems based on PI control, cascaded linear active disturbance rejection control (CLADRC), nonlinear active disturbance rejection control (NLADRC), and CL-NLADRC are conducted to verify the superiority of the proposed method.