In order to suppress the uncertain disturbance of valve-controlled asymmetric cylinder with high frequency noise,a linear active disturbance rejection control method for valve-controlled asymmetric cylinder electro-hydraulic servo system based on two-layer cascade extended state observer was proposed. It was realized by the low-pass filter characteristics and the positive correlation between the estimated speed & accuracy and the bandwidth value of the linear extended state observer. On the basis of analyzing the stability of the two-layer cascade linear extended state observer,the comparison simulation with the traditional linear active disturbance rejection control method was carried out. The simulation results show that the proposed control method inherits the advantages of traditional active disturbance rejection control,the estimation speed and accuracy for uncertain disturbance are improved,the adverse effect of uncertain disturbance with high frequency measurement noise is effectively inhibited,and high performance control of valve-controlled asymmetrical cylinder electro-hydraulic servo system can be realized.