Abstract: loop systems meet the time-domain stability and the relative stability of frequency-domain becomes a challenging problem. Firstly, the quantity parameter tuning formula for disturbance rejection control（ADRC）of stable closed-loop systems is given for the dy⁃namic motion control system including nonlinear uncertainties. In detail, the bandwidth tuning formula of extended state observer can be quantitatively obtained by the controller parameters, the size of the nonlinear uncertainties, and the range of the initial values. Moreover, the quantity relationships among the amplitude margin, phrase margin, delay margin and bandwidth of extended state observer are pro⁃ vided, and the results indicate that the requirements of these stability margins of the relevant control system can be met by the commonly used motion control system. Finally, multiple groups of numerical simulations are performed based on a typical uncertain motion control system. The simulation results are considered under multiple types of uncertainties of a system model, and the effectiveness of the pro⁃posed methods is illustrated.