Among　the　possible　fault　types　in　the　distribution　networks,　single-line-to-ground　(SLG)　fault　has　the　highest　probability.　The　SLG　fault　current　and　arc　can　easily　cause　personal　injury　and　death.　This　study　proposed　a　flexible　fault　eliminator　(FFE)　based　on　a　cascaded　H-bridge　topology　to　limit　the　SLG　fault　current　and　extinguish　fault　arc　in　the　medium　voltage　distribution　networks.　An　active　disturbance　rejection　controller　for　the　FFE　was　designed　to　improve　the　current　limiting　performance　of　FFE　in　the　presence　of　insulation　parameter　measurement　errors　and　sampling　errors　from　potential/current　transformers.　The　controller　with　good　robustness　adapts　to　different　ground　fault　resistances.　In　addition,　a　soft　grid-connection　control　scheme　based　on　bistable　smooth　switching　was　proposed　to　avoid　the　injected　current　impulse　of　FFE　at　the　moment　of　grid　connection.　Simulation　and　experimental　results　showed　that　the　fault　current　was　limited　to　a　small　enough　value　and　the　fault　arc　was　extinguished　effectively.　The　output　current　and　voltage　of　FFE　at　the　time　of　grid　connection　were　in　a　smooth　transition,　avoiding　the　impulse　on　the　power　grid　system.　The　FFE　can　eliminate　the　SLG　fault　flexibly　and　stably.