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This work addresses an adaptive approach for multivariable control. Discussed approach for multivariable adaptive control comprise two main contributions: Firstly, the introduction of a discrete-time extended state space representation that allows the inclusion of multivariable on-line and off-line estimation methods. It is worth noting that the estimation methods are generalized for the multivariable case. Secondly, the design of multivariable control systems by using an eigenstructure approach and an optimal approach with genetic algorithms tuning. This book is written primarily for graduate students in electrical engineering who specialize in modern control systems.