Abstract: Considering the problem that the auto disturbance rejection controller (ADRC) has difficulty in setting more parameters, a parameter setting method of ADRC was proposed based on the control performance assessment. The solution of benchmark function was obtained by disturbance-output transfer function of closed-loop system, which was used to optimize the decisive parameters of ADRC. Experimental results show that the proposed parameter setting method can improve the control effect of ADRC and satisfy the system control with optimal performance.