In this paper, we present an Adaptive Posicast Controller that deals with parametric uncertainties in linear systems with delays. It is assumed that the plant has no right half plane zeros and the delay is known. The adaptive controller is based on the Smith Predictor and Finite Spectrum Assignment with time-varying parameters adjusted online. A novel Lyapunov-Krasovskii functional is used to show semi-global stability of the closed-loop error equations. The controller is applied to engine fuel-to-air ratio control. The implementation results show that the Adaptive Posicast Controller significantly improves the closed-loop performance when compared to the case with the existing baseline controller. (C) 2009 Elsevier Ltd. All rights reserved.