Larco Barros, Ciro Mauricio2018-01-112018-01-112016-09-06978150901314219460740https://www.scopus.com/inward/record.uri?eid=2-s2.0-84996486507&doi=10.1109%2fETFA.2016.7733577&partnerID=40&md5=6453da63ff82b815c3e71e45ea9636e5http://dspace.ucuenca.edu.ec/handle/123456789/29141The tracking/rejection of periodic disturbances in linear systems is achievable via internal model principle-based techniques, such as repetitive control. However, when the frequency of the signal to track/reject is uncertain or time-varying, the performance of these controllers decays dramatically. This article discusses the basics of Model Reference Adaptive Control with Minimal Controller Synthesis, and assesses its applicability to this problem from a comparative study of the performance of this type of controllers and a repetitive controller, both designed to regulate the speed of a DC motor subject to periodic disturbances. The study is supported by experimental results.en-USArticle10.1109/ETFA.2016.7733577