Compared with the traditional single layer air-gap motors, larger parasitic torque ripple exists in field-modulation double-stator (FMDS) motor. The torque ripple varies periodically with rotor position, which leads to speed ripple. For the existence of periodic torque ripple, the contradiction between response and overshoot, and the presence of external uncertain disturbances, a novel outer-loop speed controller based on iterative learning control and active disturbance rejection control (ILC-ADRC) is proposed. By arranging the transition process of expected speed, the excessive overshoot of speed caused by stepped input is avoided, and the initial condition requirements of iterative learning are reduced. A linear expanded state observer (LESO) is designed to simplify parameter adjustment. The past periodic rotational speed error information is added to compensate the torque ripple. Finally, the state error feedback controller is used to generate control signals. The simulation results show that the system responds quickly without overshoot, and the torque ripple of the motor is effectively reduced.