Abstract: Adaptive controller apparatus of a plant may be implemented. The controller may comprise an encoder block and a control block. The encoder may utilize basis function kernel expansion technique to encode an arbitrary combination of inputs into spike output. The controller may comprise spiking neuron network operable according to reinforcement learning process. The network may receive the encoder output via a plurality of plastic connections. The process may be configured to adaptively modify connection weights in order to maximize process performance, associated with a target outcome. The relevant features of the input may be identified and used for enabling the controlled plant to achieve the target outcome.