This is a two-volume work first published in 1987 and 1990. Volume I - Design. Self-tuning control has traditionally developed in discrete-time context. In contrast, industrial control systems (whether electronically analogue or digital) appear to the user to be continuous-time devices. This dichotomy has hindered the application of self-tuning controllers. This monograph attempts to bridge this gap by considering self tuning control in a continuous-time context. This reorientation of self-tuning research is not merely cosmetic. There is a good reason for designing industrial control systems in a continuous-time setting: the real-world is made up of continuous-time objects. This fundamental advantage of continuous-time design will, I hope, become apparent on reading this monograph. Volume II - Implementation Volume I of this monograph discussed and described the design of continuous-time self-tuning controllers; this volume focuses on implementation issues. This emphasis on implementation is particularly important in the context of the continuous-time approach: digital implementation of continuous-time algorithms is less obvious than that of discrete-time algorithms. Thus a purpose of this volume is to convince a reader of volume I that continuous-time algorithms can be implemented in a digital form.