The motion platform is an important part of the machine tool equipment. The positioning accuracy of the widely used mechanical guide rails type motion platform is difficult to break through the micrometer level, friction is the main reason that affects its positioning accuracy. In order to solve the problem that the dynamic performance of the motion platform was difficult to be improved due to the influence of friction, a linear active disturbance rejection controller was designed for the linear voice coil motor motion platform. PD controller was combined with the extended state observer with model information.The extended state observer with model information can estimate the friction force received during the platform motion according to the control input and position error, and compensate in the control input. The friction disturbance was compensated well by using the observer, thus the robustness and tracking performance of the system were improved. Simulation experimental results show that the linear active disturbance rejection controller can be used to improve the dynamic performance of the linear voice coil motor motion platform effectively compared with the PID controller.