ESA as opposed to DLA

[Sandman1959]

I am a British Citizen who has returned to the UK in June 2014 after getting married in Jamaica in 2005 to a Jamaican woman and in 2006 we had a daughter together and lived there together as a family until myself and my daughter now aged eight (who holds a British Passport) returned to the UK with the intention of finding work and meeting the requirements. Unfortunately I became ill and am now on ESA which is not mentioned in the exemption list but the DLA it is supposed to replace is! Also because of my time out of the country PIP which is supposed to replace Disability Living Allowance is not an option as it seems you must be resident for two of the three years to be eligible !
Any advice would be greatly appreciated.