To address the slow dynamic response and step-response overshoot inherent in current control loop using second-order extended state observer (ESO), an enhanced model-free predictive current control (MFPCC) framework integrating active disturbance rejection control (ADRC) in the speed control loop and an adaptive switching fourth-order ESO (AFESO) in the current loop, termed ADRC-MFPCC-AFESO is proposed. During motor dynamic phases, the current loop deploys a conventional fourth-order ESO; a hybrid observer switching strategy activates an optimized fourth-order ESO during steady-state phase. Simulation results demonstrate that the proposed method achieves rapid speed tracking during acceleration and deceleration without overshoot, while maintaining minimal current oscillations and good noise immunity in steady states.

predictive control,ESO,Active Disturbance Rejection Control(ADRC),current control,reduced overshoot,fast dynamic response