Introduction: Parametric models of dynamical systems, Adaptive control problem Real time parameter estimation: Least squares and regression models, Estimating parameters in Dynamical Systems, Experimental conditions, Prior information, MLE, RLS,Instrument variable method.

Deterministic Self tuning regulators (STR): Pole placement design, Indirect self-tuningregulators, Continuous time self-tuners, Direct self-tuningregulators, disturbances with known characteristics.

Stochastic and Predictive Self tuning regulators: Design of Minimum variance and Moving average controllers, Stochastic self-tuningregulators, Unification of direct self-tuningregulators. Linear quadratic STR, adaptive predictive control.

Model reference adaptive control (MRAS): The MIT Rule, Determination of adaptation gain, Lyapunov theory, Design of MRAS using Lyapunov theory, BIBO stability, Output feedback, Relations between MRAS and STR.

Properties of Adaptive systems: Nonlinear dynamics, Analysis of Indirect discrete time self-tuners, Stabilityof direct discrete time algorithms, Averaging, Application of averaging techniques, Averaging in stochastic systems, Robust adaptive controllers

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