Current　harmonics　will　deteriorate　the　performance　of　permanent　magnet　synchronous　motor　(PMSM)　drives,　and　active　disturbance　rejection　control　(ADRC)　is　a　promising　method　to　reduce　the　harmonics.　However,　determined　by　the　observation　and　compensation　level　of　extended　state　observer　(ESO),　the　harmonic　suppression　ability　of　the　traditional　ADRC　is　limited.　To　significantly　decrease　low-frequency　current　harmonics,　this　article　proposes　a　novel　active　disturbance　rejection　repetitive　control　scheme　used　for　current　loops,　in　which　two　improvements　for　the　ESO　are　presented.　One　is　the　introduction　of　a　low-pass　filter　(LPF)　instead　of　the　conventional　integrator,　and　that　can　enhance　the　disturbance　observation　capability.　Based　on　this　new　LPF-ESO,　the　other　is　the　increase　of　a　repetitive　controller　in　parallel　with　the　disturbance　loop,　which　can　further　estimate　the　periodic　disturbances　and　thus　improve　the　compensation　performance　at　specific　periodic　frequencies.　The　parameter　design,　stability,　anti-disturbance　ability,　tracking　performance　and　robustness　of　the　proposed　ADRC　current　loop　are　analyzed.　Compared　with　the　traditional　ADRC,　the　proposed　scheme　can　obviously　reduce　the　current　harmonics,　moreover,　fast　dynamic　response　and　strong　robustness　can　be　achieved.　The　simulation　and　experimental　results　about　a　1.1-KW　PMSM　are　provided　to　verify　the　effectiveness　of　the　proposed　scheme.　IEEE