Quantum control plays a crucial role in enhancing precision scaling for quantum sensing. However, most existing protocols require perfect control, even though real-world devices inevitably have control imperfections. Here, we consider a fundamental setting of quantum sensing with time domain imperfections, where the duration of control pulses and the interrogation time are all subject to uncertainty. Under this scenario, we investigate the task of frequency estimation in the presence of a non-Markovian environment. We design a control strategy and prove that it outperforms any control-free strategies, recovering the optimal Heisenberg limit up to a small error term that is intrinsic to this model. We further demonstrate the advantage of our control strategy via experiments on a nuclear magnetic resonance platform. Our findings confirm that the advantage of quantum control in quantum sensing persists even in the presence of imperfections.

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• Quantum control
• Quantum information theory
• Quantum sensing