Motivation and Example Adaptive Filter Structure Performance and Robustness Issues Error and Energy Measures Robust Adaptive Filtering Energy Bounds and Passivity Relations Min-Max Optimality of Adaptive Gradient Algorithms Comparison of LMS and RLS Algorithms Time-Domain Feedback Analysis Ali H. Sayed University of California, Los Angeles Markus Rupp Bell Laboratories Lucent Technologies Time-Domain Analysis • l2 −Stability and the Small Gain Condition • Energy Propagation in the Feedback Casca