I implemented L1 Adaptive Control using MATLAB. This is very basic and I made it as similar as possible to the paper results. I hope that you can understand how to implement this interesting control algorithm.
Based on section III.C of Comparison of Several Adaptive Controllers According to Their Robustness Metrics
Paper at https://arc.aiaa.org/doi/10.2514/6.2010-8047
Please give me a ⭐ if you find it useful.