This article presents a new self-tuning sinusoidal recursive controller (STSRC) for handling the uncertainties and disturbances in a three-phase grid-connected photovoltaic system (GCPVS). The performance of a GCPVS is greatly influenced by the uncertainties, such as intermittency in solar irradiation, change in capacitance and equivalent series resistance (ESR) of dc-link capacitor, and variation of impedance between the inverter and the grid. This STSRC comprises improved linear sinusoidal tracer-based recursive least-square estimation (IRLS) to achieve robust performances, despite the parametric uncertainties through real-time estimation of its parameters, and updation of its gains. The efficacy of the proposed STSRC is verified through simulation using MATLAB/Simulink and experimental studies pursued on a 2.5-kW prototype. It is observed that STSRC exhibits superior tracking of PV voltage with reduced ripple and improved grid current with reduced total harmonic distortion (THD) of 1.66%. The estimation accuracy is found above 92%.