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A systematic and unified presentation of the fundamentals of adaptive control theory in both continuous time and discrete time Today, adaptive control theory has grown to be a rigorous and mature discipline. As the advantages of adaptive systems for developing advanced applications grow apparent, adaptive control is becoming more popular in many fields of engineering and science. Using a simple, balanced, and harmonious style, this book provides a convenient introduction to the subject and improves one's understanding of adaptive control theory. Adaptive Control Design and Analysis features: * Introduction to systems and control * Stability, operator norms, and signal convergence * Adaptive parameter estimation * State feedback adaptive control designs * Parametrization of state observers for adaptive control * Unified continuous and discrete-time adaptive control * L1+a robustness theory for adaptive systems * Direct and indirect adaptive control designs * Benchmark comparison study of adaptive control designs * Multivariate adaptive control * Nonlinear adaptive control * Adaptive compensation of actuator nonlinearities * End-of-chapter discussion, problems, and advanced topicsAs either a textbook or reference, this self-contained tutorial of adaptive control design and analysis is ideal for practicing engineers, researchers, and graduate students alike.