Derivative-Free Adaptive Control serves as a compendium of the authors' scholarship on the development of and theory for adaptive control, referred to herein as Derivative-Free Model Reference Adaptive Control (DF-MRAC). Previous methods of Model Reference Adaptive Control (MRAC) were based on the underlying assumption that plant model uncertainty can be approximated by a set of state dependent basis functions that are parameterized by an unknown but constant set of weights. In DF-MRAC, the viewpoint taken is that ideal weights may be time varying and, in fact, one can do away with the need...