This well organized guide treats adaptive control design and analysis in an authoritative, rigorous manner. * Gives both continuous-time and discrete-time adaptive control designs and their analysis. * Deals with both single-input single-output and muli-input multi-output systems. * Employs both state feedback and output feedback for control. * Presents design and analysis of various adaptive control systems in a simplified, clarified, and unified as well as compact framework. * Problem sets at the end of each chapter promote understanding of the topics discussed.