Intention tremor is a prevalent clinical symptom of multiple sclerosis that has a serious impact on the lives of many people. Traditionally, the research on tremor suppression has been predicated on the belief that tremor signals consist of one or more periodic components. However, empirical measurements from patients with wrist intention tremor have revealed that wrist intention tremor signals are not strictly periodic. The practical implications of tremors characterized by variable frequencies have received scant attention. The higher-order repetitive control (HORC) of the functional electrical stimulation (FES) is proposed for the wrist intention tremor suppression trials in the study. In the simulations, the gap of the suppression rate between the third order repetitive control (TORC) and the conventional repetitive control (CRC) was \(10.27\%\) , and the discrepancy of the suppression rate with the second order repetitive control (SORC) was \(2.51\%\) . In trials, the TORC demonstrated a higher suppression rate by \(8.10\%\) compared to the CRC, and higher than the SORC by \(1.30\%\) . The simulations and experiments results of the HORC performed superior suppression rate compared to the CRC, when confronted with frequency variability of the wrist intention tremor. The difference of the simulation and experiment results also indicated that the patient wrist musculoskeletal model would change in the proceeding of FES.