Adaptive tuning?

[superhero]

Does anyone know any good adaptive tuning technique books/ website?

I am doing sliding mode control, but the tracking is bad if the tuning parameters are fixed. I want to program the tuning parameters to be updated automatically. Any suggestion?

[viSci]

Here are some links that I found useful.

http://zone.ni.com/devzone/cda/tut/p/id/9861

http://www.controlguru.com/2007/011107.html