If not already I would encourage you to read the book by Tim Wescott. http://www.wescottdesign.com/books.html At that page he also links to some other recommended books including one about adaptive control systems.

You may also want to post your question to one of the newsgroups comp.arch.embedded, comp.arch.fpga or sci.electronics.design. Tim posts there often and may comment on your thread!

Michael Karas