bob:
>Does anybody have any good references/sources for such an adaptive system?

"no, but..." (sorry!)
you might want to look for a fuzzy logic control system. it was suggested by my lecturer back in
university that there was a good chance that fuzzy logic systems may well end up as superior
replacement for PID systems, due to the difficulties in tuning PID controllers.
i am not sure if this was just part of the generally unbased enthusiasm for fuzzy logic for its own
sake, or if the guy was right. what i do know is he was doing some research into it so he must have
at least believed his own argument ... prehaps an avenue for you to investigate anyway, i don't know
enough about it to recommend it or otherwise.

Regards,
Simon

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