Abstract: In order to improve isolation degree of disturbance, a new active disturbance -rejection controller based on disturbance frequency adaptive was proposed. Firstly, the ESO based on disturbance frequency adaptive was designed in order to avoid phase lag when ESO observed the disturbance in the second-order and more second-order system. And then, the controller was designed. Finally, an experiment was performed to test the disturbance rejection performance of the ADRC based on disturbance frequency adaptive when the speed disturbance was from 0.1 Hz to 2.5 Hz as compared with the traditional square lag-lead compensation method. The results show that ADRC can reduce the disturbance error 6.72 dB at least. And the isolation degree of disturbance was improved obviously when the perturbation frequency was more than 0.5 Hz, the best isolation degree of disturbance was increased 12.94 dB. And the ADRC had strong robustness, allowing system parameters to range from-10% to 10%. In conclusion, the ADRC based on disturbance frequency adaptive satisfies the performance requirements of aerial photoelectrical stabilized platform and has higher practical value.