1. An adaptive apparatus for use in a computerized controller, the computerized controller configured to optimize control of a functional apparatus, the adaptive apparatus comprising: a first logic configured to receive at a first time a context value comprising a context vector; a second logic configured to determine a value of a performance signal of the computerized controller that corresponds to the first time, the determination based at least in part on the context value; and a third logic configured to provide a reinforcement indication adapted to cause a modification of at least one control parameter of the computerized controller, the modification configured to minimize an error value associated with the performance signal; wherein: the adaptive apparatus is further configured to receive a plant state from a plant block in communication with the adaptive apparatus; the adaptive apparatus is further configured to provide the reinforcement indication to an actor block in communication with the adaptive apparatus, the reception of the reinforcement indication configured to cause a modification of at least one control parameter associated with control of the functional apparatus so as to effect optimized control of the functional apparatus; the reinforcement indication is determined based at least in part on the value of the performance signal; the context value comprises a first value of a reference signal that corresponds to the first time, and a first value of the plant state that corresponds to the first time; a past context vector comprises a second value of the reference signal that corresponds to a second time, and a second value of the plant state that corresponds to the second time; and a past value of the performance signal that is configured based at least in part on: (i) the first value of the plant state being within a first predetermined threshold from the second value of the plant state; (ii) the first value of the reference signal being within a second predetermined threshold from the second value of the reference signal; (iii) the value of the performance signal; and (iv) the past value of the performance signal determined at the second time based at least in part on the second value of the reference signal and the second value of the plant state.