<p>This paper addresses the challenge of designing robust and efficient controllers for systems subject to disturbances. While conventional active disturbance rejection control (ADRC) implementations, typically relying on state-space-based extended state observers (ESO-ADRC), offer disturbance rejection, they often lead to complex, higher-order controllers and intertwined reference tracking and disturbance estimation dynamics. The primary purpose of this research is to introduce a novel transfer function (TF)-based ADRC implementation, termed TF-ADRC, which overcomes these limitations. The methodology involves leveraging frequency-domain and root locus design methods, a departure from the pole placement techniques of ESO-ADRC. This approach enables the design of lower-order controllers, simplifies model order reduction, and ensures that reference tracking performance is independent of disturbance estimator dynamics. Simulation and experimental findings regarding stator current control in a permanent magnet synchronous motor (PMSM) drive indicate that TF-ADRC serves as an effective and robust alternative to conventional ESO-ADRC, providing a simplified architecture and enhanced decoupling between the tuning of reference and disturbance responses.</p>