This paper presents an output feedback controller design method for uncertain linear systems with sinusoidal disturbance of uncertain frequencies. The controller needs to compensate for the performance deterioration due to the uncertain frequencies of sinusoidal disturbance. To this end, we introduce a virtual system including the dynamics corresponding to the uncertain frequencies and design a controller which minimizes the output difference between the virtual system and the closed-loop system. In other words, the controller is designed so that the closed-loop system approximates the virtual system. The feedback controller is achieved by solving an LMI optimization problem involving a robust $H_{infty}$ constraint. The advantages of the proposed design method are examined by comparing it with a design method that only minimizes the $H_{infty}$ norm of the transfer function between the sinusoidal disturbance and the output. The proposed design method is applied to the track-following system of rewritable optical disk drives and is evaluated through an experiment.