The　speed　and　radial　displacement　of　the　rotor　have　the　obvious　ripples　due　to　the　strong　coupling　between　torque　and　suspension　force　of　a　single-winding　bearingless　flux-switching　permanent　magnet　motor,　and　the　traditional　PID/PI　controller　is　difficult　to　suppress　the　disturbance　of　the　unbalanced　magnetic　force.　A　linear　active　disturbance　rejection　control　method　based　on　model　compensation　is　proposed　in　this　article.　First,　the　topology　and　operation　principle　of　the　motor　are　described,　and　then　the　dynamic　model　of　the　rotor　and　flux　linkage　model　of　the　motor　are　analyzed.　Accordingly,　the　integral-series　standard　mathematical　models　of　the　displacement　and　speed　are　deduced,　and　then　the　mathematical　expressions　of　the　controller　gain　and　radial　disturbance　are　obtained.　Second,　the　linear　extended　state　observer　with　known　model　perturbation　information　and　the　linear　feedback　control　law　are　designed,　and　the　parameters　tuning　method　is　given.　Finally,　the　simulation　and　experimental　results　verified　that　the　proposed　method　can　significantly　reduce　the　rotor　displacement　and　torque　ripples,　and　it　has　better　disturbance　rejection　performance　than　the　traditional　PID/PI　control　method　in　the　same　stability　margin.