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Summary In this paper, the tracking control problem is considered for a class of uncertain nonlinear systems with infinite discontinuous points in the external disturbance. The extended state observer–based 2‐degree‐of‐freedom control is used with one degree to estimate and cancel the “total disturbance” and the other to force the closed‐loop system to have desired characteristics. The tracking error between the state vector and its ideal trajectory in the entire transient process is adequately discussed to illuminate the performance of resulting control systems. The quantitative analysis shows that the tracking error can be small enough by tuning the bandwidth of the extended state observer. Moreover, the necessary and sufficient condition for the tracking error and the estimation error of the “total disturbance” to converge to zero is presented. The simulation results of a motion test demonstrate that the desired performance of the control system can be achieved despite discontinuous disturbance and nonlinear uncertainties.