Switching control method of linear/nonlinear active disturbance rejection control system

The invention discloses a switching control method of a linear/nonlinear active disturbance rejection control system. The method comprises the step of establishing an active disturbance rejection control system, the step of performing linear/nonlinear switching on an extended state observer and the step of carrying out linear/nonlinear switching on a state error feedback control law. The method provided by the invention has the following advantages: the method has a higher anti-interference capability and higher control precision; the stability is irrelevant with an initial state; and a parameter setting method provided by the invention is integrated with the advantages of both a "bandwidth method" and an "experience method", influences of sampling step length, noise and the like are also taken into consideration, and the problems of deteriorating tracking performance and control performance which are caused by too large disturbance amplitude do not have to be considered.