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Presents a parameter estimator that is designed to estimate the frequencies, magnitudes, and phases of the components of a periodic signal. The structure of the algorithm is reminiscent of a phase-locked loop, although significant differences can be observed. The performance of the estimator is analyzed, and useful design guidelines are provided. A version of the algorithm is presented that combines different components of the signal and/or signals from multiple sensors in order to estimate the fundamental frequency. In this manner, the algorithm is able to maintain tracking of the fundamental frequency despite changes in signal characteristics. The results are verified in simulations and the algorithms are found to be simple and effective for estimation and tracking of time-varying parameters. Experimental results are reported where periodic signals are collected from an active noise control testbed.