How to suppress or eliminate uncertain disturbance is the key to improve the control performance of the electro-hydraulic servo system. The uncertain disturbance including the high-frequency measurement noise will not only stimulate the system vibration, reduce the system control quality, increase the production energy consumption and shorten the life cycle of the equipment, but also increase the design difficulty of the high-performance controller. To solve this problem, a linear active disturbance rejection control (ADRC) method for valve-controlled asymmetric cylinder based on two-layer cascade extended state observer (CESO) is proposed. It is realized by the low-pass filter characteristics and the positive correlation between the estimated speed / accuracy and the bandwidth value of the linear ESO. Based on the analysis of the stability of the two-layer linear CESO, the disturbance suppression of the valve-controlled asymmetric cylinder with high-frequency measurement noise is simulated and compared with the traditional ADRC. The simulation results show that besides the advantages of traditional ADRC, the method can improve the estimation speed / accuracy of uncertain disturbance, effectively suppress the adverse effects of high-frequency measurement noise and realize the high-performance control of the system.