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 controlStability, operator norms, and signal convergenceAdaptive parameter estimationState feedback adaptive control designsParametrization of state observers for adaptive controlUnified continuous and discrete-time adaptive controlL1+a robustness theory for adaptive systemsDirect and indirect adaptive control designsBenchmark comparison study of adaptive control designsMultivariate adaptive controlNonlinear adaptive controlAdaptive compensation of actuator nonlinearitiesEnd-of-chapter discussion, problems, and advanced topics As 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.