A fusion technology for the matrix converter(MC) and direct torque control(DTC) is proposed by using nonlinear
control method. An active disturbance rejection controller(ADRC) based on the extension state observer(ESO) is applied
to the system, taking the place of the traditional proportional-integral controller．The system stability of the second
order extension state observer is studied by using multiple Lyapunov function method. By using this controller，the
anti-disturbance capability and robust characteristics of the drive system under abnormal input voltage conditions can be
enhanced. Simulation results show the effectiveness of the designed controller．

direct torque control;matrix converter;active disturbance rejection controller;extension state observer; multiple Lyapunov function method