A method and a device for robust rejection of the periodic disturbances in a motor-position control structure of the RST type, wherein the assembly including the motor, the position sensor, the element for computing the functions 1/So(z−1) and Ro(z−1), in a loop, is called central controller. Within the framework of the invention, to the central controller are added two additional computing elements, the first one being an estimator block E(z−1) and the second one a modifier block Q(z−1), as well as an additional loop, the estimator block E(z−1) allowing a load disturbance estimation signal {circumflex over (v)}(t) to be computed, the modifier block Q(z−1) receiving the load disturbance estimation signal {circumflex over (v)}(t) as an input, to produce a modified signal, which is applied to a negative input of an additional adder arranged upstream from the element for computing the function 1/So(z−1) and then forming the additional loop, the modifier block having a variable transfer function.