It has been known for some time that proportional output feedback will
stabilize MIMO, minimum-phase, linear time-invariant systems if the feedback
gain is sufficiently large. High-gain adaptive controllers achieve stability by
automatically driving up the feedback gain monotonically. More recently, it was
demonstrated that sample-and-hold implementations of the high-gain adaptive
controller also require adaptation of the sampling rate. In this paper, we use
recent advances in the mathematical field of dynamic equations on time scales
to unify and generalize the discrete and continuous versions of the high-gain
adaptive controller. We prove the stability of high-gain adaptive controllers
on a wide class of time scales