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We develop a new adaptive gain-scheduling control scheme for continuous-time linear systems with polytopic uncertainties. The gain-scheduled control law is proposed as a convex sum of a fixed set of controller gains, exploiting the polytopic representation of the system uncertainty, which is not possible with classical robust control results in the literature. To realize this scheme, an adaptation law is proposed to adaptively provide the tuning parameter for the gain-scheduling implementation. The admissible domain of the stabilizing control feedback gains, defined by the fixed set of controller gains, can be determined offline by solving a set of linear matrix inequality constraints over a scalar line search. Using Lyapunov-based arguments, the proposed design conditions and the adaptation law ensure that all closed-loop signals are bounded. In particular, if the uncertain parameters are not time-varying, then the system states asymptotically converge to the origin. Theoretical arguments and appropriate numerical illustrations are provided to demonstrate the effectiveness of the proposed control scheme. [ABSTRACT FROM AUTHOR]