A turntable servo system based on the Lugre friction model is established in order to overcome the nonlinear friction's effect to stability of control system in low speed situation, and an active disturbance rejection controller is designed to estimate and compensate the friction. Only using linear extended observer and linear state error feedback can the designed controller achieve the prospective performance as the classical active disturbance rejection control does. Finally a simulation was used to compare linear active disturbance rejection control with PD, the experiments show that after introducing the active disturbance rejection controller system has the better control performance, higher response speed, higher reliable precision as well as the anti-disturbance.
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