This chapter describes a new method for adaptive control of non-linear dynamical systems based on the use of neural networks, fuzzy logic and mathematical models. It analyses the method for adaptive model-based control using neural networks with the method for model selection using fuzzy logic to obtain a new hybrid neuro-fuzzy method for control of non-linear dynamical systems. The chapter presents a new method for adaptive model-based control of non-linear dynamical systems. This method is based on a hybrid neuro-fuzzy approach to achieve, in an efficient way, adaptive robust control of non-linear dynamical systems using a set of different mathematical models. Dynamical systems can have many forms and be of many types, but one very important case is that of non-linear dynamic plants. Production processes in real world Plants are often highly non-linear and difficult to control. Parametric adaptive control is the problem of controlling the output of a dynamical system with a known structure but unknown parameters.