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This paper presents a multiple-model adaptive control procedure for sodium nitroprusside regulation of arterial pressure. Pole-placement, via state-variable feedback, is included in the controller to achieve desired performance characteristics. A Smith predictor in the controller effectively removes the infusion delay time, thus simplifying the control analysis and design. Proportional-plus-integral control is used to achieve zero steady-state error. Computer simulations on linear transfer function models with varying gains, time constants, and infusion delays demonstrate the robustness of this multiple-model controller. Additional simulations on nonlinear, pulsatile-flow cardiovascular models lend further support to the ultimate use of this controller for blood-pressure regulation.