This book introduces the adaptive and self–tuning control system, providing the readers with a fundamental understanding of the techniques and how to apply them in various control system applications. To help recall the knowledge of related control system basics for this subject, the book also includes some control system preliminaries, such as review on control systems and control system modelling, before going deeper into the principles and designs of adaptive and self–tuning control. The book focuses on two main methods of adaptive control algorithms, which include the self–tuning control and the model–reference adaptive control, with examples of real applications of these techniques being discussed in great length so that the readers will be able to use the techniques for their specific control applications. MATLAB codes are also provided for better understanding of the implementation of the algorithm and various issues related to the implementation of these types of control are also discussed.