This paper presents an integrated approach based on dynamic inversion(DI)and active disturbance rejection control(ADRC)to the entry attitude control of a generic hypersonic vehicle(GHV).DI is frstly used to cancel the nonlinearities of the GHV entry model to construct a basic attitude controller.To enhance the control performance and system robustness to inevitable disturbances,ADRC techniques,including the arranged transient process(ATP),nonlinear feedback(NF),and most importantly the extended state observer(ESO),are integrated with the basic DI controller.As one primary task,the stability and estimation error of the second-order nonlinear ESO are analyzed from a brand new perspective:the nonlinear ESO is treated as a specifc form of forced Li′enard system.Abundant qualitative properties of the Li′enard system are utilized to yield comprehensive theorems on nonlinear ESO solution behaviors,such as the boundedness,convergence,and existence of periodic solutions.Phase portraits of ESO estimation error dynamics are given to validate our analysis.At last,three groups of simulations,including comparative simulations with modeling errors,Monte Carlo runs with parametric uncertainties,and a six degrees-of-freedom reference entry trajectory tracking are executed,which demonstrate the superiority of the proposed integrated controller over the basic DI controller. This paper presents an integrated approach based on dynamic inversion (DI) and active disturbance rejection control (ADRC) to the entry attitude control of a generic hypersonic vehicle (GHV). DI is frstly used to cancel the nonlinearities of the GHV entry model to construct a basic attitude controller. To enhance the control performance and system robustness to inenecessary disturbances, ADRC techniques, including the arrangement transient process (ATP), nonlinear feedback (NF), and most importantly the extended state observer (ESO), are integrated with the basic DI controller.As one primary task, the stability and estimation error of the second-order nonlinear ESO are analyzed from a brand new perspective: the nonlinear ESO is treated as a specifc form of forced Li’enard system. Abundant qualitative properties of the Li’enard system are utilized to yield comprehensive theorems on nonlinear ESO solution behaviors, such as the boundedness, convergence, and existence of periodic solutions. Ports of Era SO estimation error dynamics are given to validate our analysis. At last, three groups of simulations, including comparative simulations with modeling errors, Monte Carlo runs with parametric uncertainties, and a six degrees-of-freedom reference entry trajectory tracking are executed, which demonstrate the superiority of the proposed integrated controller over the basic DI controller.