ABSTRACT This paper presents the design and implementation of an adaptive control system for a cartesian robot used for handling raw material. Due to random payload, a self-tuning regulator is required. The problem is solved by two control methods, fue first one by pole placement using a state variable model and the second one use an algebraic method in order to self-tuning a PID controller, both are using on-line parameters estimation with least squares. A cartesian robot whit three degrees of freedom and AC motors in each one of its axes is used. In order to validate axes position control, a system using an AC motor with a frequency varying device, an encoder, will be used.