to Adaptive Control -- Adaptive Control - Why? -- Adaptive Control Versus Conventional Feedback Control -- Basic Adaptive Control Schemes -- Examples -- A Brief Historical Note -- Concluding Remarks -- Discrete Time System Models for Control -- Deterministic Environment -- Stochastic Environment -- Concluding Remarks -- Problems -- Parameter Adaptation Algorithms - Deterministic Environment -- The Problem -- PAA - Examples -- Stability of Parameter Adaptation Algorithms -- Parametric Convergence -- Concluding Remarks -- Problems -- Parameter Adaptation Algorithms - Stochastic Environment -- Effect of Stochastic Disturbances -- The Averaging Method -- The Martingale Approach -- The Frequency Domain Approach -- Concluding Remarks -- Problems -- Recursive Plant Model Identification in Open Loop -- Recursive Identification in the Context of System Identification -- Structure of Recursive Parameter Estimation Algorithms -- Identification Methods (Type I) -- Validation of the Models Identified with Type I Methods -- Identification Methods (Type II) -- Validation of the Models Identified with Type II Methods -- Selection of the Pseudo Random Binary Sequence -- Model Order Selection -- An Example: Identification of a Flexible Transmission -- Concluding Remarks -- Problems -- Adaptive Prediction -- The Problem -- Adaptive Prediction - Deterministic Case -- Adaptive Prediction - Stochastic Case -- Concluding Remarks -- Problems -- Digital Control Strategies -- Canonical Form for Digital Controllers -- Pole Placement -- Tracking and Regulation with Independent Objectives -- Tracking and Regulation with Weighted Input -- Minimum Variance Tracking and Regulation -- Generalized Predictive Control -- Linear Quadratic Control -- Concluding Remarks -- Problems -- Robust Digital Control Design -- The Robustness Problem -- The Sensitivity Functions -- Robust Stability -- Definition of "Templates" for the Sensitivity Functions -- Properties of the Sensitivity Functions -- Shaping the Sensitivity Functions -- Example: Robust Digital Control of a Flexible Transmission -- Concluding Remarks -- Problems -- Recursive Plant Model Identification in Closed Loop -- The Problem -- Closed Loop Output Error Algorithms -- Filtered Open Loop Recursive Identification Algorithms -- Frequency Distribution of the Asymptotic Bias in Closed Loop Identification -- Validation of Models Identified in Closed Loop -- Comparative Evaluation of the Various Algorithms -- Concluding Remarks -- Problems -- Robust Parameter Estimation -- The Problem -- Input/Output Data Filtering -- Effect of Disturbances -- PAA with Dead Zone -- PAA with Projection -- Data Normalization -- A Robust Parameter Estimation Scheme -- Concluding Remarks -- Problems -- Direct Adaptive Control -- Adaptive Tracking and Regulation with Independent Objectives -- Adaptive Tracking and Regulation with Weighted Input -- Adaptive Minimum Variance Tracking and Regulation -- Adaptive Generalized Minimum Variance Control -- Robust Direct Adaptive Control -- An example -- Concluding Remarks -- Problems -- Indirect Adaptive Control -- Adaptive Pole Placement -- Robust Indirect Adaptive Control -- Adaptive Generalized Predictive Control -- Adaptive Linear Quadratic Control -- Iterative Identification in Closed Loop and Controller Redesign -- An Example -- Concluding Remarks -- Practical Aspects and Applications -- The Digital Control System -- The Parameter Adaptation Algorithm -- Adaptive Control Algorithms -- Initialization of Adaptive Control Schemes -- Supervision -- Iterative Identification in Closed Loop and Controller Redesign -- Adaptive Tracking and Robust Regulation -- Indirect Adaptive Control -- Concluding Remarks -- A Perspective View and Further Reading -- Stochastic Processes -- Stability -- Passive (Hyperstable) Systems -- Passive (Hyperstable) Systems -- Passivity - Some Definitions -- Discrete Linear Time-Invariant Passive Systems -- Discrete Linear Time-Varying Passive Systems -- Stability of Feedback Interconnected Systems -- Hyperstability and Small Gain -- Martingales.