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.