Two robust adaptive control methods are outlined for a class of nonlinear systems. The first method is based on the tuning function design of Krstic et al. (1992), and the second method is based on the modular design of Krstic and Kokotovic (1995). Both methods guarantee robustness with respect to bounded uncertainties and exogenous disturbances, and L-infinity/L-2 estimates are given on the effects of these uncertainties/disturbances on the tracking error.