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This book provides a clearly written, authoritative, and detailed development of adaptive-control systems analysis and design. The book incorporates many new results and techniques fordesigning adaptive-control systems, and derives many previously known results in novel ways that simplify and lend new insights to the theory. Above all, the book is written in a manner that is comprehensible to a broad scientific audience. Taking a realistic approach, the author presents techniques for applying the theory to solving practical problems and shows how the designer of adaptive-control systems can draw on his knowledge of classical methods to better understand the adaptive-control problem. The book is an outgrowth of several research papers published by the author and of courses given to graduate students at the Institut National Polytechnique de Grenoble, France.