The invention discloses a structure and a design method of an improved active-disturbance-rejection position controller for a 
direct current (DC) motor; the 
DC motor is taken as a controlled object, and an output position 
signal is taken as a controlled variable; the controller mainly consists of four parts, i.e., a tracking 
differentiator, a nonlinear state 
error feedback part, an extended 
state observer and a disturbance compensation part. The improved active-disturbance-rejection position controller is mainly used to improve a fal function in a nonlinear function in the extended 
state observer, and the fal function is used to determine the tracking performance of the extended 
state observer and the controller; the concrete improvement measure is adding a linear feedback area into non-linear feedback; therefore, the problem that in the traditional method, timely control cannot be realized when the 
system error is too large and the 
gain is too low can be solved on the basis of guaranteeing 
system stability. By comparing 
simulation lines obtained before and after the improvement for the controller, the structure and the design method which are provided by the invention are proved to accelerate the output 
signal response speed under the condition that the 
position error of the 
DC motor is larger, thus improving the integral control performance of a 
system.