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The conventional motor-speed control method is Proportion Integration (PI), which has paradox in overshoot and rapidity. In this paper, a novel speed control method based on the Active Disturbance Rejection Control (ADRC) is proposed, which tracks the speed input signal without overshoot. The main contribution of this paper lies in that simplifying the controller structure by omitting the Tracking Differentiator (TD) module which is critical and inevitable in conventional ADRC. Meanwhile direct error is applied in both Extended State Observer (ESO) and State Error Feedback (SEF) to substitute nonlinear function. The simulative results and experiment results indicate that the performance of the novel ADRC controller proposed in this paper has huge advantage than the conventional PI controller.