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This paper proposes a novel coordinated nonlinear auto-disturbance-rejection controller (ADRC) for the excitation system and the static var compensator (SVC) of a four-bus power system. In the paper, a new dynamic feedback linearization method based on a nonlinear extended state observer is introduced, and the anticipating dynamic characteristic design for the linearized and decoupling system is also explicated. The coordinated controller can effectively ensure the stability of the power angle as well as the terminal voltage of the generating unit. Simulation results show that the proposed controller has excellent control performance with outstanding adaptability and robustness against external disturbances and model uncertainties.