Adaptive control systems 6 Adaptive systems 6 Self-adaptive system 6 Software engineering 6 Architectural approach 4 Behavioral research 4 Control theory 4 Operational parameters 4 Reference architecture 4 Self adaptation 4 Self-adaptive systems 4 System configurations 4 Behaviour changes 2 Computer architecture 2 Controller synthesis 2 Controllers 2 Discrete event control 2 Dynamic models 2 Dynamic re-configuration 2 Environment models 2 Graceful degradation 2 Logic-based approach 2 Progressive enhancement 2 Quality attributes 2 Robots 2 Simplifying assumptions 2 Software architecture 2 Unpredictable environments 2