Abstract:  Because PMLSM ( Permanent Magnet Linear Synchronous Motor) does not have intermediate
transmission links, any uncertainty disturbances will directly affect the performance of the control system and
conventional ADRC (Auto Disturbance Rejection Control) parameters many is not conducive to tuning problems,
we proposed a improved invasive weed optimization PMLSM two order ADRC. We use chaos reverse learning
initialization method and the Cauchy distribution of spatial distribution improved invasive weed algorithm to
optimize the parameters of ADRC. And after optimization of ADRC, the control performance has improved
significantly. Through simulation and comparison, the improved auto disturbance rejection controller has fast
response speed, small steady-state error decreases by 2%, and does not have overshoot, and has good robustness
to load disturbance.

Key words: auto disturbance rejection control(ADRC),  permanent magnet linear synchronous motor ( PMLSM), Improved invasive weed optimization algorithm, parameter optimization