Abstract: Aiming to address the issues of nonlinear coupling and internal/external disturbance uncertainties in the position control process of magnetic levitation bearings, a four-degree-of-freedom magnetic bearing iterative learning control strategy based on ADRC was proposed. The self-disturbance controller was constructed based on the four-degree-of-freedom magnetic levitation bearing system model. The estimated total disturbance was adjusted online through indirect iterative control to achieve adaptive tuning of observer parameters under different gains by adjusting the bandwidth of the state observer. The Simulink simulation experimental data shows that the system reaches stability at about 0. 14 s, and returns to stability after adding interference for about 0. 05 s; The adaptive ADRC four degree of freedom magnetic levitation bearing based on iterative control has good control performance, fast adjustment speed, and strong anti-interference ability. After updating the bandwidth online using the PD-type indirect iterative learning control law, the overshoot is small, and the tracking target error integral performance index is small.