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Ad ap tive Contro l provid es tec hniques for aut omatic adjustment in real t ime of cont roller parameter s in order to achieve or to maintain a desired level for the performance of cont rol systems when the dyn amic param et ers of t he process are unknown and/or var y in time. These techniques have as a main feature t he abilit y to ext ract significant information from real dat a in ord er to tune the cont roller and they feature a me chanism for adjust ing parameter s (of a plant model or of a cont roller). While the history of Adaptive Control is lon g, significant progr ess in under - standing and applying Adaptive Con trol began in the early sevent ies. The growing availability of digital com puters have also contributed to the devel- opment of the field . The earlier applicat ions in the sevent ies and beginning of the eight ies, provided important feedback for the development of the field . Theoretical developments allowed a number of basic problems to be solved . The aim of this book is to provide a coherent and comprehensive treatment of the field . The presentation takes the read er from the basic problem formu- lation to the analytical solutions who se prac tical significance is illustrated by applications.