# survey/book on adaptive/self-tuning of PI controllers?

Can someone point me towards a good book or survey article on adaptive/self-tuning of PI controllers?

All I can find online are articles which are either vague or heavy on theory.

This is definitively not a satisfying answer, but what you call "adaptive" in combination with a pi-controller is commonly called gain-scheduling or lpv-gain-scheduling (lpv = linear parameter varying). Maybe that helps you find a book.