A master-slave synchronisation control problem is addressed for current-fed DC and permanent magnet synchronous motors with all uncertain parameters. A measurable exogenous rotor position reference signal, which belongs to the class of biased sinusoidal signals with uncertain bias, amplitude, angular frequency, phase, is to be tracked without assuming its a priori knowledge. An innovative modification of disturbance cancellation techniques allows to prove that an output feedback adaptive nonlinear control scheme, which simply generalises the classical internal-model-based input law, solves the aforementioned problem, with an overall stability proof concerning the entire closed-loop system. The practical effectiveness of the proposed approach is illustrated by experimental results.