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This paper proposes an alternative strategy to track sinusoidal reference signals with zero steady state error for uninterruptible power supplies - UPS. A robust proportional-sinusoidal-cosinusoidal (or in short PSC) controller is derived for sinusoidal voltage regulation subject to load variations. The controller parameters are determined by means of a convex optimization problem subject to a set of linear matrix inequalities (LMIs). Simulations and practical experiments demonstrate the potential of the proposed approach for controlling UPS systems.