A complete course in self-tuning control, beginning with a survey of adaptive control and the formulation of adaptive control problems. Modelling and identification are dealt with before passing on to algebraic design methods. Finally, laboratory verification and experimentation will ground your theoretical knowledge in real plant control. Features: a strong emphasis on practical problem solving with control algorithms clearly laid out in easy-to-follow formats or as MATLAB® functions suitable for use in project work; specially written MATLAB® toolboxes for the presentation of typical control system and plant properties and ready for use in direct control of real or simulated plants; worked examples and tutorial exercises. This book shows graduate students and advanced undergraduates how to overcome the problems of putting the tools of adaptive control theory into practice. The text will also be of interest to engineers wishing to employ ideas of adaptive control in their designs and plant.