This text blends the areas of adaptive inverse control and signal processing in a unique way, allowing engineers in both fields to share tools and techniques. Clearly and intuitively written, the book presents theory, but it emphasizes practical applications and common sense understanding. New enhancements to this edition include discussion questions and homework problems for each chapter. Content has been updated to reflect the latest information, and includes case studies, reference algorithms, historical background, and chapter summaries to help make the material clearer. This resource features downloadable answer keys, MATLAB code, and other student/instructor resources.