1 Introduction -- 1.1 Definition of the Problem -- 1.2 Prologue to Simple Adaptive Control -- 1.3 Background on Adaptive Control Algorithms -- 1.4 Objectives and Overview -- 2 Basic Theory of Simple Adaptive Control -- 2.1 Model Following -- 2.2 Output Model Following -- 2.3 Stability and Positivity Concepts -- 2.4 Adaptive Control Based on CGT -- 2.5 The Adaptive Algorithm with General Input Commands 63 2.5.1 Controller Structure -- 2.6 Summary of Adaptive Algorithms -- 2A Proof of Theorem 2.1 -- 2B Proof of Theorem 2.2 -- 2C Poles, Zeros and Relative Degree in Multivariable Systems -- 3 Extensions of the Basic Adaptive Algorithm -- 3.1 Parallel Feedforward and Stability Considerations -- 3.2 Feedforward Around Plant -- 3.3 Feedforward in Both Plant and Model -- 3.4 A Unified Approach to Supplementary Dynamics -- 3.5 Adaptive Control in the Presence of Nonlinearities -- 3.6 Summary -- 3A Proof of Positivity Lemmas -- 3B Proof of Theorem 3.1 -- 3C Proof of Theorem 3.2 -- 3D Proof of Theorem 3.3 -- 3E Proof of Theorem 3.4 -- 4 Robust Design Procedures -- 4.1 Introduction -- 4.2 Robust Redesign of the Basic Adaptive Algorithm -- 4.3 Robustness Considerations with Feedforward in the Reference Model -- 4.4 Robust Redesign for Supplementary Dynamics -- 4.5 Bursting Phenomena and Their Elimination -- 4.6 Summary -- 4A Proof of Robust Stability, Theorem 1 -- 4B Development of Lyapunov Function Derivative -- 4C Proof of Theorem 2 -- 5 Adaptive Control of Time-Varying and Nonlinear Systems -- 5.1 Introduction -- 5.2 Passivity and Almost Passivity of Nonstationary Systems -- 5.3 Adaptive Control of ASP Plants -- 5.4 The "Almost Passivity" Lemmas -- 5.5 Adaptive Control of Nonlinear Systems -- 5A Proof of Stability for the Algorithm (5.27)-(5.32) -- 5B Strictly Causal Almost Passive Systems -- 5C Proof of Lemma 1 -- 6 Design of Model Reference Adaptive Controllers -- 6.1 Algorithm Overview -- 6.2 Constraint Satisfaction -- 6.3 Weight Selection -- 6.4 Reference Model Selection -- 6.5 Digital Implementation -- 6.6 Time Varying Commands -- 7 Case Studies -- 7.1 Direct Model Reference Adaptive Control of a PUMA Manipulator -- 7.2 Model Reference Adaptive Control of Large Structures -- 7.3 Adaptive Drug Delivery Control -- 7.4 Adaptive Control for a Relaxed Static Stability Aircraft -- References.